67 lines
2.6 KiB
XML
67 lines
2.6 KiB
XML
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<mujoco model="planar hopper">
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<include file="./common/skybox.xml"/>
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<include file="./common/visual.xml"/>
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<include file="./common/materials_white_floor.xml"/>
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<statistic extent="2" center="0 0 .5"/>
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<default>
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<default class="hopper">
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<joint type="hinge" axis="0 1 0" limited="true" damping=".05" armature=".2"/>
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<geom type="capsule" material="self"/>
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<site type="sphere" size="0.05" group="3"/>
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</default>
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<default class="free">
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<joint limited="false" damping="0" armature="0" stiffness="0"/>
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</default>
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<motor ctrlrange="-1 1" ctrllimited="true"/>
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</default>
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<option timestep="0.005"/>
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<worldbody>
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<camera name="cam0" pos="0 -2.8 0.8" euler="90 0 0" mode="trackcom"/>
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<camera name="back" pos="-2 -.2 1.2" xyaxes="0.2 -1 0 .5 0 2" mode="trackcom"/>
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<geom name="floor" type="plane" conaffinity="1" pos="48 0 0" size="50 1 .2" material="grid"/>
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<body name="torso" pos="0 0 1" childclass="hopper">
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<light name="top" pos="0 0 2" mode="trackcom"/>
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<joint name="rootx" type="slide" axis="1 0 0" class="free"/>
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<joint name="rootz" type="slide" axis="0 0 1" class="free"/>
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<joint name="rooty" type="hinge" axis="0 1 0" class="free"/>
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<geom name="torso" fromto="0 0 -.05 0 0 .2" size="0.0653"/>
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<geom name="nose" fromto=".08 0 .13 .15 0 .14" size="0.03"/>
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<body name="pelvis" pos="0 0 -.05">
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<joint name="waist" range="-30 30"/>
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<geom name="pelvis" fromto="0 0 0 0 0 -.15" size="0.065"/>
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<body name="thigh" pos="0 0 -.2">
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<joint name="hip" range="-170 10"/>
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<geom name="thigh" fromto="0 0 0 0 0 -.33" size="0.04"/>
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<body name="calf" pos="0 0 -.33">
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<joint name="knee" range="5 150"/>
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<geom name="calf" fromto="0 0 0 0 0 -.32" size="0.03"/>
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<body name="foot" pos="0 0 -.32">
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<joint name="ankle" range="-45 45"/>
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<geom name="foot" fromto="-.08 0 0 .17 0 0" size="0.04"/>
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<site name="touch_toe" pos=".17 0 0"/>
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<site name="touch_heel" pos="-.08 0 0"/>
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</body>
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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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<touch name="touch_toe" site="touch_toe"/>
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<touch name="touch_heel" site="touch_heel"/>
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</sensor>
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<actuator>
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<motor name="waist" joint="waist" gear="30"/>
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<motor name="hip" joint="hip" gear="40"/>
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<motor name="knee" joint="knee" gear="30"/>
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<motor name="ankle" joint="ankle" gear="10"/>
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</actuator>
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</mujoco>
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