| <mujoco model="spot"> |
| <compiler angle="radian" meshdir="assets"/> |
|
|
| <option integrator="implicitfast" cone="elliptic" impratio="100"/> |
|
|
| <visual> |
| <global ellipsoidinertia="true"/> |
| </visual> |
|
|
| <asset> |
| <material name="BlackAbs" rgba="0.1 0.1 0.1 1"/> |
| <material name="wrap" rgba="0.878431 0.666666 0.227450 1"/> |
|
|
| <mesh file="body_0.obj"/> |
| <mesh file="body_1.obj"/> |
| <mesh file="front_left_hip.obj"/> |
| <mesh file="front_left_upper_leg_0.obj"/> |
| <mesh file="front_left_upper_leg_1.obj"/> |
| <mesh file="front_left_lower_leg.obj"/> |
| <mesh file="front_right_hip.obj"/> |
| <mesh file="front_right_upper_leg_0.obj"/> |
| <mesh file="front_right_upper_leg_1.obj"/> |
| <mesh file="front_right_lower_leg.obj"/> |
| <mesh file="rear_left_hip.obj"/> |
| <mesh file="rear_left_upper_leg_0.obj"/> |
| <mesh file="rear_left_upper_leg_1.obj"/> |
| <mesh file="rear_left_lower_leg.obj"/> |
| <mesh file="rear_right_hip.obj"/> |
| <mesh file="rear_right_upper_leg_0.obj"/> |
| <mesh file="rear_right_upper_leg_1.obj"/> |
| <mesh file="rear_right_lower_leg.obj"/> |
| <mesh file="body_collision.obj"/> |
| <mesh file="left_upper_leg_collision.obj"/> |
| <mesh file="left_lower_leg_collision.obj"/> |
| <mesh file="right_upper_leg_collision.obj"/> |
| <mesh file="right_lower_leg_collision.obj"/> |
| </asset> |
|
|
| <default> |
| <default class="spot"> |
| <geom solref="0.004 1"/> |
| <joint actuatorfrcrange="-1000 1000"/> |
| <position kp="500" kv="40" inheritrange="1"/> |
| <default class="visual"> |
| <geom group="2" type="mesh" contype="0" conaffinity="0"/> |
| </default> |
| <default class="collision"> |
| <geom group="3" type="mesh"/> |
| <default class="foot"> |
| <geom type="sphere" size="0.036" pos="0 0 -0.3365" priority="1" condim="6" solimp="0.015 1 0.036" |
| friction="0.8 0.02 0.01"/> |
| </default> |
| </default> |
| </default> |
| </default> |
|
|
| <worldbody> |
| <light name="spotlight" mode="targetbodycom" target="body" pos="3 0 4" cutoff="30"/> |
| <body name="body" childclass="spot" pos="0 0 .75"> |
| <light name="tracking" mode="trackcom" pos="0 0 2"/> |
| <freejoint name="freejoint"/> |
| <inertial pos="0.0063944 -9.81216e-05 0.000911379" mass="32.86" diaginertia="0.13144 0.13144 0.13144"/> |
| <geom mesh="body_0" material="BlackAbs" class="visual"/> |
| <geom mesh="body_1" material="wrap" class="visual"/> |
| <geom mesh="body_collision" class="collision"/> |
| <body name="fl_hip" pos="0.29785 0.055 0"> |
| <inertial pos="-0.00537435 0.0128418 9.87523e-05" quat="1 1 -1 1" mass="1.68" |
| diaginertia="0.00226544 0.00211474 0.00181296"/> |
| <joint name="fl_hx" axis="1 0 0" range="-0.785398 0.785398"/> |
| <geom material="BlackAbs" mesh="front_left_hip" class="visual"/> |
| <body name="fl_uleg" pos="0 0.1108 0"> |
| <inertial pos="0.00514237 -0.00243237 -0.121009" mass="2.34" diaginertia="0.0275596 0.0273549 0.00284815"/> |
| <joint name="fl_hy" axis="0 1 0" range="-0.898845 2.29511"/> |
| <geom mesh="front_left_upper_leg_0" material="wrap" class="visual"/> |
| <geom mesh="front_left_upper_leg_1" material="BlackAbs" class="visual"/> |
| <geom mesh="left_upper_leg_collision" class="collision"/> |
| <body name="fl_lleg" pos="0.025 0 -0.32"> |
| <inertial pos="0.00225794 4.6076e-05 -0.180082" quat="1 0 0 1" mass="0.35" |
| diaginertia="0.00405032 0.00399902 0.00014934"/> |
| <joint name="fl_kn" axis="0 1 0" range="-2.7929 -0.254402"/> |
| <geom material="BlackAbs" mesh="front_left_lower_leg" class="visual"/> |
| <geom mesh="left_lower_leg_collision" class="collision"/> |
| <geom name="FL" class="foot"/> |
| </body> |
| </body> |
| </body> |
| <body name="fr_hip" pos="0.29785 -0.055 0"> |
| <inertial pos="-0.00537435 -0.0128418 -9.87523e-05" quat="1 1 -1 1" mass="1.68" |
| diaginertia="0.00226544 0.00211474 0.00181296"/> |
| <joint name="fr_hx" axis="1 0 0" range="-0.785398 0.785398"/> |
| <geom material="BlackAbs" mesh="front_right_hip" class="visual"/> |
| <body name="fr_uleg" pos="0 -0.1108 0"> |
| <inertial pos="0.00514237 0.00243237 -0.121009" mass="2.34" diaginertia="0.0275596 0.0273549 0.00284815"/> |
| <joint name="fr_hy" axis="0 1 0" range="-0.898845 2.24363"/> |
| <geom mesh="front_right_upper_leg_0" material="wrap" class="visual"/> |
| <geom mesh="front_right_upper_leg_1" material="BlackAbs" class="visual"/> |
| <geom mesh="right_upper_leg_collision" class="collision"/> |
| <body name="fr_lleg" pos="0.025 0 -0.32"> |
| <inertial pos="0.00225794 4.6076e-05 -0.180082" quat="1 0 0 1" mass="0.35" |
| diaginertia="0.00405032 0.00399902 0.00014934"/> |
| <joint name="fr_kn" axis="0 1 0" range="-2.7929 -0.255648"/> |
| <geom material="BlackAbs" mesh="front_right_lower_leg" class="visual"/> |
| <geom mesh="right_lower_leg_collision" class="collision"/> |
| <geom name="FR" class="foot"/> |
| </body> |
| </body> |
| </body> |
| <body name="hl_hip" pos="-0.29785 0.055 0"> |
| <inertial pos="0.00537435 0.0128418 -9.87523e-05" quat="1 1 -1 1" mass="1.68" |
| diaginertia="0.00226544 0.00211474 0.00181296"/> |
| <joint name="hl_hx" axis="1 0 0" range="-0.785398 0.785398"/> |
| <geom material="BlackAbs" mesh="rear_left_hip" class="visual"/> |
| <body name="hl_uleg" pos="0 0.1108 0"> |
| <inertial pos="0.00514237 -0.00243237 -0.121009" mass="2.34" diaginertia="0.0275596 0.0273549 0.00284815"/> |
| <joint name="hl_hy" axis="0 1 0" range="-0.898845 2.29511"/> |
| <geom mesh="rear_left_upper_leg_0" material="wrap" class="visual"/> |
| <geom mesh="rear_left_upper_leg_1" material="BlackAbs" class="visual"/> |
| <geom mesh="left_upper_leg_collision" class="collision"/> |
| <body name="hl_lleg" pos="0.025 0 -0.32"> |
| <inertial pos="0.00225794 4.6076e-05 -0.180082" quat="1 0 0 1" mass="0.35" |
| diaginertia="0.00405032 0.00399902 0.00014934"/> |
| <joint name="hl_kn" axis="0 1 0" range="-2.7929 -0.247067"/> |
| <geom material="BlackAbs" mesh="rear_left_lower_leg" class="visual"/> |
| <geom mesh="left_lower_leg_collision" class="collision"/> |
| <geom name="HL" class="foot"/> |
| </body> |
| </body> |
| </body> |
| <body name="hr_hip" pos="-0.29785 -0.055 0"> |
| <inertial pos="0.00537435 -0.0128418 9.87523e-05" quat="1 1 -1 1" mass="1.68" |
| diaginertia="0.00226544 0.00211474 0.00181296"/> |
| <joint name="hr_hx" axis="1 0 0" range="-0.785398 0.785398"/> |
| <geom material="BlackAbs" mesh="rear_right_hip" class="visual"/> |
| <body name="hr_uleg" pos="0 -0.1108 0"> |
| <inertial pos="0.00514237 0.00243237 -0.121009" mass="2.34" diaginertia="0.0275596 0.0273549 0.00284815"/> |
| <joint name="hr_hy" axis="0 1 0" range="-0.898845 2.29511"/> |
| <geom mesh="rear_right_upper_leg_0" material="wrap" class="visual"/> |
| <geom mesh="rear_right_upper_leg_1" material="BlackAbs" class="visual"/> |
| <geom mesh="right_upper_leg_collision" class="collision"/> |
| <body name="hr_lleg" pos="0.025 0 -0.32"> |
| <inertial pos="0.00225794 4.6076e-05 -0.180082" quat="1 0 0 1" mass="0.35" |
| diaginertia="0.00405032 0.00399902 0.00014934"/> |
| <joint name="hr_kn" axis="0 1 0" range="-2.7929 -0.248282"/> |
| <geom material="BlackAbs" mesh="rear_left_lower_leg" class="visual"/> |
| <geom mesh="right_lower_leg_collision" class="collision"/> |
| <geom name="HR" class="foot"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| </worldbody> |
|
|
| <contact> |
| <exclude body1="body" body2="fl_uleg"/> |
| <exclude body1="body" body2="fr_uleg"/> |
| <exclude body1="body" body2="hl_uleg"/> |
| <exclude body1="body" body2="hr_uleg"/> |
| </contact> |
|
|
| <actuator> |
| <position class="spot" name="fl_hx" joint="fl_hx"/> |
| <position class="spot" name="fl_hy" joint="fl_hy"/> |
| <position class="spot" name="fl_kn" joint="fl_kn"/> |
| <position class="spot" name="fr_hx" joint="fr_hx"/> |
| <position class="spot" name="fr_hy" joint="fr_hy"/> |
| <position class="spot" name="fr_kn" joint="fr_kn"/> |
| <position class="spot" name="hl_hx" joint="hl_hx"/> |
| <position class="spot" name="hl_hy" joint="hl_hy"/> |
| <position class="spot" name="hl_kn" joint="hl_kn"/> |
| <position class="spot" name="hr_hx" joint="hr_hx"/> |
| <position class="spot" name="hr_hy" joint="hr_hy"/> |
| <position class="spot" name="hr_kn" joint="hr_kn"/> |
| </actuator> |
|
|
| <keyframe> |
| <key name="home" qpos=" |
| 0 0 0.46 |
| 1 0 0 0 |
| 0 1.04 -1.8 |
| 0 1.04 -1.8 |
| 0 1.04 -1.8 |
| 0 1.04 -1.8" |
| ctrl=" |
| 0 1.04 -1.8 |
| 0 1.04 -1.8 |
| 0 1.04 -1.8 |
| 0 1.04 -1.8"/> |
| </keyframe> |
| </mujoco> |
|
|
