330 lines
14 KiB
XML
330 lines
14 KiB
XML
|
<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>
|
||
|
|
|