74 lines
3.3 KiB
XML
74 lines
3.3 KiB
XML
|
<mujoco model="cheetah">
|
||
|
|
<include file="./common/skybox.xml"/>
|
||
|
|
<include file="./common/visual.xml"/>
|
||
|
|
<include file="./common/materials_white_floor.xml"/>
|
||
|
|
|
||
|
|
<compiler settotalmass="14"/>
|
||
|
|
|
||
|
|
<default>
|
||
|
|
<default class="cheetah">
|
||
|
|
<joint limited="true" damping=".01" armature=".1" stiffness="8" type="hinge" axis="0 1 0"/>
|
||
|
|
<geom contype="1" conaffinity="1" condim="3" friction=".4 .1 .1" material="self"/>
|
||
|
|
</default>
|
||
|
|
<default class="free">
|
||
|
|
<joint limited="false" damping="0" armature="0" stiffness="0"/>
|
||
|
|
</default>
|
||
|
|
<motor ctrllimited="true" ctrlrange="-1 1"/>
|
||
|
|
</default>
|
||
|
|
|
||
|
|
<statistic center="0 0 .7" extent="2"/>
|
||
|
|
|
||
|
|
<option timestep="0.01"/>
|
||
|
|
|
||
|
|
<worldbody>
|
||
|
|
<geom name="ground" type="plane" conaffinity="1" pos="98 0 0" size="100 .8 .5" rgba="0.8 0.9 0.8 0" material="grid"/>
|
||
|
|
<body name="torso" pos="0 0 .7" childclass="cheetah">
|
||
|
|
<light name="light" pos="0 0 2" mode="trackcom"/>
|
||
|
|
<camera name="side" pos="0 -3 0" quat="0.707 0.707 0 0" mode="trackcom"/>
|
||
|
|
<camera name="back" pos="-1.8 -1.3 0.8" xyaxes="0.45 -0.9 0 0.3 0.15 0.94" mode="trackcom"/>
|
||
|
|
<joint name="rootx" type="slide" axis="1 0 0" class="free"/>
|
||
|
|
<joint name="rootz" type="slide" axis="0 0 1" class="free"/>
|
||
|
|
<joint name="rooty" type="hinge" axis="0 1 0" class="free"/>
|
||
|
|
<geom name="torso" type="capsule" fromto="-.5 0 0 .5 0 0" size="0.046"/>
|
||
|
|
<geom name="head" type="capsule" pos=".6 0 .1" euler="0 50 0" size="0.046 .15"/>
|
||
|
|
<body name="bthigh" pos="-.5 0 0">
|
||
|
|
<joint name="bthigh" range="-30 60" stiffness="240" damping="6"/>
|
||
|
|
<geom name="bthigh" type="capsule" pos=".1 0 -.13" euler="0 -218 0" size="0.046 .145"/>
|
||
|
|
<body name="bshin" pos=".16 0 -.25">
|
||
|
|
<joint name="bshin" range="-50 50" stiffness="180" damping="4.5"/>
|
||
|
|
<geom name="bshin" type="capsule" pos="-.14 0 -.07" euler="0 -116 0" size="0.046 .15"/>
|
||
|
|
<body name="bfoot" pos="-.28 0 -.14">
|
||
|
|
<joint name="bfoot" range="-230 50" stiffness="120" damping="3"/>
|
||
|
|
<geom name="bfoot" type="capsule" pos=".03 0 -.097" euler="0 -15 0" size="0.046 .094"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
<body name="fthigh" pos=".5 0 0">
|
||
|
|
<joint name="fthigh" range="-57 .40" stiffness="180" damping="4.5"/>
|
||
|
|
<geom name="fthigh" type="capsule" pos="-.07 0 -.12" euler="0 30 0" size="0.046 .133"/>
|
||
|
|
<body name="fshin" pos="-.14 0 -.24">
|
||
|
|
<joint name="fshin" range="-70 50" stiffness="120" damping="3"/>
|
||
|
|
<geom name="fshin" type="capsule" pos=".065 0 -.09" euler="0 -34 0" size="0.046 .106"/>
|
||
|
|
<body name="ffoot" pos=".13 0 -.18">
|
||
|
|
<joint name="ffoot" range="-28 28" stiffness="60" damping="1.5"/>
|
||
|
|
<geom name="ffoot" type="capsule" pos=".045 0 -.07" euler="0 -34 0" size="0.046 .07"/>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</body>
|
||
|
|
</worldbody>
|
||
|
|
|
||
|
|
<sensor>
|
||
|
|
<subtreelinvel name="torso_subtreelinvel" body="torso"/>
|
||
|
|
</sensor>
|
||
|
|
|
||
|
|
<actuator>
|
||
|
|
<motor name="bthigh" joint="bthigh" gear="120" />
|
||
|
|
<motor name="bshin" joint="bshin" gear="90" />
|
||
|
|
<motor name="bfoot" joint="bfoot" gear="60" />
|
||
|
|
<motor name="fthigh" joint="fthigh" gear="90" />
|
||
|
|
<motor name="fshin" joint="fshin" gear="60" />
|
||
|
|
<motor name="ffoot" joint="ffoot" gear="30" />
|
||
|
|
</actuator>
|
||
|
|
</mujoco>
|