Spaces:
Running
on
Zero
Running
on
Zero
| <mujoco model="quadruped"> | |
| <include file="./common/skybox.xml"/> | |
| <include file="./common/visual.xml"/> | |
| <include file="./common/materials.xml"/> | |
| <visual> | |
| <rgba rangefinder="1 1 0.1 0.1"/> | |
| <map znear=".005" zfar="20"/> | |
| </visual> | |
| <asset> | |
| <hfield name="terrain" ncol="201" nrow="201" size="30 30 5 .1"/> | |
| </asset> | |
| <option timestep=".005"/> | |
| <default> | |
| <geom solimp=".9 .99 .003" solref=".01 1"/> | |
| <default class="body"> | |
| <geom type="capsule" size=".08" condim="1" material="self" density="500"/> | |
| <joint type="hinge" damping="30" armature=".01" | |
| limited="true" solimplimit="0 .99 .01"/> | |
| <default class="hip"> | |
| <default class="yaw"> | |
| <joint axis="0 0 1" range="-50 50"/> | |
| </default> | |
| <default class="pitch"> | |
| <joint axis="0 1 0" range="-20 60"/> | |
| </default> | |
| <geom fromto="0 0 0 .3 0 .11"/> | |
| </default> | |
| <default class="knee"> | |
| <joint axis="0 1 0" range="-60 50"/> | |
| <geom size=".065" fromto="0 0 0 .25 0 -.25"/> | |
| </default> | |
| <default class="ankle"> | |
| <joint axis="0 1 0" range="-45 55"/> | |
| <geom size=".055" fromto="0 0 0 0 0 -.25"/> | |
| </default> | |
| <default class="toe"> | |
| <geom type="sphere" size=".08" material="effector" friction="1.5"/> | |
| <site type="sphere" size=".084" material="site" group="4"/> | |
| </default> | |
| </default> | |
| <default class="rangefinder"> | |
| <site type="capsule" size=".005 .1" material="site" group="4"/> | |
| </default> | |
| <default class="wall"> | |
| <geom type="plane" material="decoration"/> | |
| </default> | |
| <default class="coupling"> | |
| <equality solimp="0.95 0.99 0.01" solref=".005 .5"/> | |
| </default> | |
| <general ctrllimited="true" gainprm="1000" biasprm="0 -1000" biastype="affine" dyntype="filter" dynprm=".1"/> | |
| <default class="yaw_act"> | |
| <general ctrlrange="-1 1"/> | |
| </default> | |
| <default class="lift_act"> | |
| <general ctrlrange="-1 1.1"/> | |
| </default> | |
| <default class="extend_act"> | |
| <general ctrlrange="-.8 .8"/> | |
| </default> | |
| </default> | |
| <asset> | |
| <texture name="ball" builtin="checker" mark="cross" width="151" height="151" | |
| rgb1="0.1 0.1 0.1" rgb2="0.9 0.9 0.9" markrgb="1 1 1"/> | |
| <material name="ball" texture="ball" /> | |
| </asset> | |
| <worldbody> | |
| <geom name="floor" type="plane" size="15 15 .5" material="grid"/> | |
| <geom name="wall_px" class="wall" pos="-15.7 0 .7" zaxis="1 0 1" size="1 15 .5"/> | |
| <geom name="wall_py" class="wall" pos="0 -15.7 .7" zaxis="0 1 1" size="15 1 .5"/> | |
| <geom name="wall_nx" class="wall" pos="15.7 0 .7" zaxis="-1 0 1" size="1 15 .5"/> | |
| <geom name="wall_ny" class="wall" pos="0 15.7 .7" zaxis="0 -1 1" size="15 1 .5"/> | |
| <site name="target" type="cylinder" size=".4 .06" pos="0 0 .05" material="target"/> | |
| <geom name="terrain" type="hfield" hfield="terrain" rgba=".2 .3 .4 1" pos="0 0 -.01"/> | |
| <camera name="global" pos="-10 10 10" xyaxes="-1 -1 0 1 0 1" mode="trackcom"/> | |
| <body name="torso" childclass="body" pos="0 0 .57"> | |
| <freejoint name="root"/> | |
| <camera name="x" pos="-1.7 0 1" xyaxes="0 -1 0 .75 0 1" mode="trackcom"/> | |
| <camera name="y" pos="0 4 2" xyaxes="-1 0 0 0 -.5 1" mode="trackcom"/> | |
| <camera name="egocentric" pos=".3 0 .11" xyaxes="0 -1 0 .4 0 1" fovy="60"/> | |
| <light name="light" pos="0 0 4" mode="trackcom"/> | |
| <geom name="eye_r" type="cylinder" size=".05" fromto=".1 -.07 .12 .31 -.07 .08" mass="0"/> | |
| <site name="pupil_r" type="sphere" size=".033" pos=".3 -.07 .08" zaxis="1 0 0" material="eye"/> | |
| <geom name="eye_l" type="cylinder" size=".05" fromto=".1 .07 .12 .31 .07 .08" mass="0"/> | |
| <site name="pupil_l" type="sphere" size=".033" pos=".3 .07 .08" zaxis="1 0 0" material="eye"/> | |
| <site name="workspace" type="sphere" size=".3 .3 .3" material="site" pos=".8 0 -.2" group="3"/> | |
| <site name="rf_00" class="rangefinder" fromto=".41 -.02 .11 .34 0 .115"/> | |
| <site name="rf_01" class="rangefinder" fromto=".41 -.01 .11 .34 0 .115"/> | |
| <site name="rf_02" class="rangefinder" fromto=".41 0 .11 .34 0 .115"/> | |
| <site name="rf_03" class="rangefinder" fromto=".41 .01 .11 .34 0 .115"/> | |
| <site name="rf_04" class="rangefinder" fromto=".41 .02 .11 .34 0 .115"/> | |
| <site name="rf_10" class="rangefinder" fromto=".41 -.02 .1 .36 0 .11"/> | |
| <site name="rf_11" class="rangefinder" fromto=".41 -.02 .1 .36 0 .11"/> | |
| <site name="rf_12" class="rangefinder" fromto=".41 0 .1 .36 0 .11"/> | |
| <site name="rf_13" class="rangefinder" fromto=".41 .01 .1 .36 0 .11"/> | |
| <site name="rf_14" class="rangefinder" fromto=".41 .02 .1 .36 0 .11"/> | |
| <site name="rf_20" class="rangefinder" fromto=".41 -.02 .09 .38 0 .105"/> | |
| <site name="rf_21" class="rangefinder" fromto=".41 -.01 .09 .38 0 .105"/> | |
| <site name="rf_22" class="rangefinder" fromto=".41 0 .09 .38 0 .105"/> | |
| <site name="rf_23" class="rangefinder" fromto=".41 .01 .09 .38 0 .105"/> | |
| <site name="rf_24" class="rangefinder" fromto=".41 .02 .09 .38 0 .105"/> | |
| <site name="rf_30" class="rangefinder" fromto=".41 -.02 .08 .4 0 .1"/> | |
| <site name="rf_31" class="rangefinder" fromto=".41 -.01 .08 .4 0 .1"/> | |
| <site name="rf_32" class="rangefinder" fromto=".41 0 .08 .4 0 .1"/> | |
| <site name="rf_33" class="rangefinder" fromto=".41 .01 .08 .4 0 .1"/> | |
| <site name="rf_34" class="rangefinder" fromto=".41 .02 .08 .4 0 .1"/> | |
| <geom name="torso" type="ellipsoid" size=".3 .27 .2" density="1000"/> | |
| <site name="torso_touch" type="box" size=".26 .26 .26" rgba="0 0 1 0"/> | |
| <site name="torso" size=".05" rgba="1 0 0 1" /> | |
| <body name="hip_front_left" pos=".2 .2 0" euler="0 0 45" childclass="hip"> | |
| <joint name="yaw_front_left" class="yaw"/> | |
| <joint name="pitch_front_left" class="pitch"/> | |
| <geom name="thigh_front_left"/> | |
| <body name="knee_front_left" pos=".3 0 .11" childclass="knee"> | |
| <joint name="knee_front_left"/> | |
| <geom name="shin_front_left"/> | |
| <body name="ankle_front_left" pos=".25 0 -.25" childclass="ankle"> | |
| <joint name="ankle_front_left"/> | |
| <geom name="foot_front_left"/> | |
| <body name="toe_front_left" pos="0 0 -.3" childclass="toe"> | |
| <geom name="toe_front_left"/> | |
| <site name="toe_front_left"/> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="hip_front_right" pos=".2 -.2 0" euler="0 0 -45" childclass="hip"> | |
| <joint name="yaw_front_right" class="yaw"/> | |
| <joint name="pitch_front_right" class="pitch"/> | |
| <geom name="thigh_front_right"/> | |
| <body name="knee_front_right" pos=".3 0 .11" childclass="knee"> | |
| <joint name="knee_front_right"/> | |
| <geom name="shin_front_right"/> | |
| <body name="ankle_front_right" pos=".25 0 -.25" childclass="ankle"> | |
| <joint name="ankle_front_right"/> | |
| <geom name="foot_front_right"/> | |
| <body name="toe_front_right" pos="0 0 -.3" childclass="toe"> | |
| <geom name="toe_front_right"/> | |
| <site name="toe_front_right"/> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="hip_back_right" pos="-.2 -.2 0" euler="0 0 -135" childclass="hip"> | |
| <joint name="yaw_back_right" class="yaw"/> | |
| <joint name="pitch_back_right" class="pitch"/> | |
| <geom name="thigh_back_right"/> | |
| <body name="knee_back_right" pos=".3 0 .11" childclass="knee"> | |
| <joint name="knee_back_right"/> | |
| <geom name="shin_back_right"/> | |
| <body name="ankle_back_right" pos=".25 0 -.25" childclass="ankle"> | |
| <joint name="ankle_back_right"/> | |
| <geom name="foot_back_right"/> | |
| <body name="toe_back_right" pos="0 0 -.3" childclass="toe"> | |
| <geom name="toe_back_right"/> | |
| <site name="toe_back_right"/> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="hip_back_left" pos="-.2 .2 0" euler="0 0 135" childclass="hip"> | |
| <joint name="yaw_back_left" class="yaw"/> | |
| <joint name="pitch_back_left" class="pitch"/> | |
| <geom name="thigh_back_left"/> | |
| <body name="knee_back_left" pos=".3 0 .11" childclass="knee"> | |
| <joint name="knee_back_left"/> | |
| <geom name="shin_back_left"/> | |
| <body name="ankle_back_left" pos=".25 0 -.25" childclass="ankle"> | |
| <joint name="ankle_back_left"/> | |
| <geom name="foot_back_left"/> | |
| <body name="toe_back_left" pos="0 0 -.3" childclass="toe"> | |
| <geom name="toe_back_left"/> | |
| <site name="toe_back_left"/> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="ball" pos="0 0 3"> | |
| <freejoint name="ball_root"/> | |
| <geom name="ball" size=".15" material="ball" priority="1" condim="6" friction=".7 .005 .005" | |
| solref="-10000 -30"/> | |
| <light name="ball_light" pos="0 0 4" mode="trackcom"/> | |
| </body> | |
| </worldbody> | |
| <tendon> | |
| <fixed name="coupling_front_left"> | |
| <joint joint="pitch_front_left" coef=".333"/> | |
| <joint joint="knee_front_left" coef=".333"/> | |
| <joint joint="ankle_front_left" coef=".333"/> | |
| </fixed> | |
| <fixed name="coupling_front_right"> | |
| <joint joint="pitch_front_right" coef=".333"/> | |
| <joint joint="knee_front_right" coef=".333"/> | |
| <joint joint="ankle_front_right" coef=".333"/> | |
| </fixed> | |
| <fixed name="coupling_back_right"> | |
| <joint joint="pitch_back_right" coef=".333"/> | |
| <joint joint="knee_back_right" coef=".333"/> | |
| <joint joint="ankle_back_right" coef=".333"/> | |
| </fixed> | |
| <fixed name="coupling_back_left"> | |
| <joint joint="pitch_back_left" coef=".333"/> | |
| <joint joint="knee_back_left" coef=".333"/> | |
| <joint joint="ankle_back_left" coef=".333"/> | |
| </fixed> | |
| <fixed name="extend_front_left"> | |
| <joint joint="pitch_front_left" coef=".25"/> | |
| <joint joint="knee_front_left" coef="-.5"/> | |
| <joint joint="ankle_front_left" coef=".25"/> | |
| </fixed> | |
| <fixed name="lift_front_left"> | |
| <joint joint="pitch_front_left" coef=".5"/> | |
| <joint joint="ankle_front_left" coef="-.5"/> | |
| </fixed> | |
| <fixed name="extend_front_right"> | |
| <joint joint="pitch_front_right" coef=".25"/> | |
| <joint joint="knee_front_right" coef="-.5"/> | |
| <joint joint="ankle_front_right" coef=".25"/> | |
| </fixed> | |
| <fixed name="lift_front_right"> | |
| <joint joint="pitch_front_right" coef=".5"/> | |
| <joint joint="ankle_front_right" coef="-.5"/> | |
| </fixed> | |
| <fixed name="extend_back_right"> | |
| <joint joint="pitch_back_right" coef=".25"/> | |
| <joint joint="knee_back_right" coef="-.5"/> | |
| <joint joint="ankle_back_right" coef=".25"/> | |
| </fixed> | |
| <fixed name="lift_back_right"> | |
| <joint joint="pitch_back_right" coef=".5"/> | |
| <joint joint="ankle_back_right" coef="-.5"/> | |
| </fixed> | |
| <fixed name="extend_back_left"> | |
| <joint joint="pitch_back_left" coef=".25"/> | |
| <joint joint="knee_back_left" coef="-.5"/> | |
| <joint joint="ankle_back_left" coef=".25"/> | |
| </fixed> | |
| <fixed name="lift_back_left"> | |
| <joint joint="pitch_back_left" coef=".5"/> | |
| <joint joint="ankle_back_left" coef="-.5"/> | |
| </fixed> | |
| </tendon> | |
| <equality> | |
| <tendon name="coupling_front_left" tendon1="coupling_front_left" class="coupling"/> | |
| <tendon name="coupling_front_right" tendon1="coupling_front_right" class="coupling"/> | |
| <tendon name="coupling_back_right" tendon1="coupling_back_right" class="coupling"/> | |
| <tendon name="coupling_back_left" tendon1="coupling_back_left" class="coupling"/> | |
| </equality> | |
| <actuator> | |
| <general name="yaw_front_left" class="yaw_act" joint="yaw_front_left"/> | |
| <general name="lift_front_left" class="lift_act" tendon="lift_front_left"/> | |
| <general name="extend_front_left" class="extend_act" tendon="extend_front_left"/> | |
| <general name="yaw_front_right" class="yaw_act" joint="yaw_front_right"/> | |
| <general name="lift_front_right" class="lift_act" tendon="lift_front_right"/> | |
| <general name="extend_front_right" class="extend_act" tendon="extend_front_right"/> | |
| <general name="yaw_back_right" class="yaw_act" joint="yaw_back_right"/> | |
| <general name="lift_back_right" class="lift_act" tendon="lift_back_right"/> | |
| <general name="extend_back_right" class="extend_act" tendon="extend_back_right"/> | |
| <general name="yaw_back_left" class="yaw_act" joint="yaw_back_left"/> | |
| <general name="lift_back_left" class="lift_act" tendon="lift_back_left"/> | |
| <general name="extend_back_left" class="extend_act" tendon="extend_back_left"/> | |
| </actuator> | |
| <sensor> | |
| <accelerometer name="imu_accel" site="torso"/> | |
| <gyro name="imu_gyro" site="torso"/> | |
| <velocimeter name="velocimeter" site="torso"/> | |
| <force name="force_toe_front_left" site="toe_front_left"/> | |
| <force name="force_toe_front_right" site="toe_front_right"/> | |
| <force name="force_toe_back_right" site="toe_back_right"/> | |
| <force name="force_toe_back_left" site="toe_back_left"/> | |
| <torque name="torque_toe_front_left" site="toe_front_left"/> | |
| <torque name="torque_toe_front_right" site="toe_front_right"/> | |
| <torque name="torque_toe_back_right" site="toe_back_right"/> | |
| <torque name="torque_toe_back_left" site="toe_back_left"/> | |
| <subtreecom name="center_of_mass" body="torso"/> | |
| <rangefinder name="rf_00" site="rf_00"/> | |
| <rangefinder name="rf_01" site="rf_01"/> | |
| <rangefinder name="rf_02" site="rf_02"/> | |
| <rangefinder name="rf_03" site="rf_03"/> | |
| <rangefinder name="rf_04" site="rf_04"/> | |
| <rangefinder name="rf_10" site="rf_10"/> | |
| <rangefinder name="rf_11" site="rf_11"/> | |
| <rangefinder name="rf_12" site="rf_12"/> | |
| <rangefinder name="rf_13" site="rf_13"/> | |
| <rangefinder name="rf_14" site="rf_14"/> | |
| <rangefinder name="rf_20" site="rf_20"/> | |
| <rangefinder name="rf_21" site="rf_21"/> | |
| <rangefinder name="rf_22" site="rf_22"/> | |
| <rangefinder name="rf_23" site="rf_23"/> | |
| <rangefinder name="rf_24" site="rf_24"/> | |
| <rangefinder name="rf_30" site="rf_30"/> | |
| <rangefinder name="rf_31" site="rf_31"/> | |
| <rangefinder name="rf_32" site="rf_32"/> | |
| <rangefinder name="rf_33" site="rf_33"/> | |
| <rangefinder name="rf_34" site="rf_34"/> | |
| </sensor> | |
| </mujoco> |