71 lines
2.9 KiB
XML
71 lines
2.9 KiB
XML
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<mujoco model="planar walker">
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<include file="./common/visual.xml"/>
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<include file="./common/skybox.xml"/>
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<include file="./common/materials_white_floor.xml"/>
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<option timestep="0.0025"/>
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<statistic extent="2" center="0 0 1"/>
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<default>
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<joint damping=".1" armature="0.01" limited="true" solimplimit="0 .99 .01"/>
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<geom contype="1" conaffinity="0" friction=".7 .1 .1"/>
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<motor ctrlrange="-1 1" ctrllimited="true"/>
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<site size="0.01"/>
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<default class="walker">
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<geom material="self" type="capsule"/>
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<joint axis="0 -1 0"/>
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</default>
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</default>
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<worldbody>
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<geom name="floor" type="plane" conaffinity="1" pos="248 0 0" size="250 .8 .2" material="grid" zaxis="0 0 1"/>
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<body name="torso" pos="0 0 1.3" childclass="walker">
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<light name="light" pos="0 0 2" mode="trackcom"/>
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<camera name="side" pos="0 -2 .7" euler="60 0 0" mode="trackcom"/>
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<camera name="back" pos="-2 0 .5" xyaxes="0 -1 0 1 0 3" mode="trackcom"/>
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<joint name="rootz" axis="0 0 1" type="slide" limited="false" armature="0" damping="0"/>
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<joint name="rootx" axis="1 0 0" type="slide" limited="false" armature="0" damping="0"/>
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<joint name="rooty" axis="0 1 0" type="hinge" limited="false" armature="0" damping="0"/>
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<geom name="torso" size="0.07 0.3"/>
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<body name="right_thigh" pos="0 -.05 -0.3">
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<joint name="right_hip" range="-20 100"/>
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<geom name="right_thigh" pos="0 0 -0.225" size="0.05 0.225"/>
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<body name="right_leg" pos="0 0 -0.7">
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<joint name="right_knee" pos="0 0 0.25" range="-150 0"/>
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<geom name="right_leg" size="0.04 0.25"/>
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<body name="right_foot" pos="0.06 0 -0.25">
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<joint name="right_ankle" pos="-0.06 0 0" range="-45 45"/>
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<geom name="right_foot" zaxis="1 0 0" size="0.05 0.1"/>
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</body>
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</body>
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</body>
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<body name="left_thigh" pos="0 .05 -0.3" >
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<joint name="left_hip" range="-20 100"/>
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<geom name="left_thigh" pos="0 0 -0.225" size="0.05 0.225"/>
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<body name="left_leg" pos="0 0 -0.7">
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<joint name="left_knee" pos="0 0 0.25" range="-150 0"/>
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<geom name="left_leg" size="0.04 0.25"/>
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<body name="left_foot" pos="0.06 0 -0.25">
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<joint name="left_ankle" pos="-0.06 0 0" range="-45 45"/>
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<geom name="left_foot" zaxis="1 0 0" size="0.05 0.1"/>
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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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<sensor>
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<subtreelinvel name="torso_subtreelinvel" body="torso"/>
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</sensor>
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<actuator>
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<motor name="right_hip" joint="right_hip" gear="100"/>
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<motor name="right_knee" joint="right_knee" gear="50"/>
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<motor name="right_ankle" joint="right_ankle" gear="20"/>
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<motor name="left_hip" joint="left_hip" gear="100"/>
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<motor name="left_knee" joint="left_knee" gear="50"/>
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<motor name="left_ankle" joint="left_ankle" gear="20"/>
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</actuator>
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</mujoco>
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