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leg.xml
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leg.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Leg">
<option timestep="0.005"/>
<visual>
<map force="0.1" zfar="30"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
</visual>
<statistic center="0 0 0"/>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
<texture name="body" type="cube" builtin="flat" mark="cross" width="127" height="1278" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
</asset>
<default>
<motor ctrlrange="-1 1" ctrllimited="true"/>
</default>
<default>
<motor ctrlrange="-1 1" ctrllimited="true"/>
<default class="body">
<!-- geoms -->
<geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body"/>
<default class="thigh">
<geom size=".06"/>
</default>
<default class="shin">
<geom fromto="0 0 0 0 0 -.3" size=".049"/>
</default>
<default class="foot">
<geom size=".027"/>
<default class="foot1">
<geom fromto="-.07 -.01 0 .14 -.03 0"/>
</default>
<default class="foot2">
<geom fromto="-.07 .01 0 .14 .03 0"/>
</default>
</default>
<default class="arm_upper">
<geom size=".04"/>
</default>
<default class="arm_lower">
<geom size=".031"/>
</default>
<default class="hand">
<geom type="sphere" size=".04"/>
</default>
<!-- joints -->
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
<default class="joint_big">
<joint damping="5" stiffness="10"/>
<default class="hip_x">
<joint range="-30 10"/>
</default>
<default class="hip_z">
<joint range="-60 35"/>
</default>
<default class="hip_y">
<joint axis="0 1 0" range="-150 20"/>
</default>
<default class="joint_big_stiff">
<joint stiffness="20"/>
</default>
</default>
<default class="knee">
<joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
</default>
<default class="ankle">
<joint range="-50 50"/>
<default class="ankle_y">
<joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
</default>
<default class="ankle_x">
<joint pos="0 0 .04" stiffness="3"/>
</default>
</default>
<default class="shoulder">
<joint range="-85 60"/>
</default>
<default class="elbow">
<joint range="-100 50" stiffness="0"/>
</default>
</default>
</default>
<worldbody>
<geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
<body name="torso" pos="0 0 0.91">
<light name="top" pos="0 0 2" mode="trackcom"/>
<!-- <freejoint name="root"/> -->
<joint name="rootx" axis="1 0 0" range="-0.1 0.1" type="slide" limited="true" damping="5" stiffness="10"/>
<joint name="rooty" axis="0 1 0" range="-0.1 0.1" type="slide" limited="true" damping="5" stiffness="10"/>
<joint name="rootz" axis="0 0 1" range="-0.1 0.1" type="slide" limited="true" damping="5" stiffness="10"/>
<geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09" type="capsule" condim="1" friction=".7" solimp=".9 .9 .9" solref=".015 1" material="body"/>
<body name="thigh_right" pos="0 -.1 -.04">
<joint name="hip_x_right" axis="1 0 0" range="-30 10" type="hinge" armature=".01" limited="true" solimplimit="0 .99 .01" damping="5" stiffness="10"/>
<joint name="hip_z_right" axis="0 0 1" range="-60 35" type="hinge" armature=".01" limited="true" solimplimit="0 .99 .01" damping="5" stiffness="10"/>
<joint name="hip_y_right" axis="0 1 0" range="-150 20" type="hinge" armature=".01" limited="true" solimplimit="0 .99 .01" damping="5" stiffness="10"/>
<geom name="thigh_right" fromto="0 0 0 0 .01 -.34" size=".09" type="capsule" condim="1" friction=".7" solimp=".9 .9 .9" solref=".015 1" material="body"/>
<body name="shin_right" pos="0 .01 -.4">
<joint name="knee_right" class="knee"/>
<geom name="shin_right" class="shin"/>
<body name="foot_right" pos="0 0 -.39">
<joint name="ankle_y_right" class="ankle_y"/>
<joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
<geom name="foot1_right" class="foot1"/>
<geom name="foot2_right" class="foot2"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="rootx" gear="20" joint="rootx"/>
<motor name="rooty" gear="20" joint="rooty"/>
<!-- <motor name="rootz" gear="250" joint="rootz"/> -->
<motor name="hip_x_right" gear="40" joint="hip_x_right"/>
<motor name="hip_z_right" gear="40" joint="hip_z_right"/>
<motor name="hip_y_right" gear="120" joint="hip_y_right"/>
<motor name="knee_right" gear="80" joint="knee_right"/>
<motor name="ankle_x_right" gear="20" joint="ankle_x_right"/>
<motor name="ankle_y_right" gear="20" joint="ankle_y_right"/>
</actuator>
<keyframe>
<key name="squat" qpos="0 0 -0.099
0 0
-0.6
-0.6
-0.2 0.1"/>
</keyframe>
</mujoco>