File size: 8,047 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 | <mujoco>
<option jacobian="dense" density="1.225" viscosity="1.8e-5" wind="0 0 1">
<flag fwdinv="enable" energy="enable" island="enable"/>
</option>
<asset>
<mesh name="icosahedron" scale=".05 .05 .05"
vertex="0 1 1.618
0 -1 1.618
0 1 -1.618
0 -1 -1.618
1 1.618 0
-1 1.618 0
1 -1.618 0
-1 -1.618 0
1.618 0 1
1.618 0 -1
-1.618 0 1
-1.618 0 -1"/>
<hfield name="hfield" nrow="3" ncol="3" size=".2 .2 .03 .03"
elevation="1 0 1
0 1 0
1 0 1"/>
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
<texture name="grid" type="cube" builtin="checker" width="32" height="32" rgb1=".1 .2 .3" rgb2="1 1 1"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
</asset>
<default>
<site rgba=".5 .5 .5 .5"/>
<joint armature="1" damping="10"/>
<general ctrllimited="true" ctrlrange="-1 1"/>
<default class="hip0">
<joint springref="30" stiffness="60"/>
</default>
<default class="hip1">
<joint limited="true" range="-60 60" stiffness="10"/>
</default>
<default class="wheel">
<joint damping=".1" armature=".1"/>
</default>
</default>
<worldbody>
<light pos="0 0 3"/>
<geom name="floor" type="plane" size="4 4 .1" margin="0.01" gap="0.005"/>
<geom type="hfield" hfield="hfield" pos="-.4 .6 .05" rgba="0 0 1 1"/>
<body name="head" pos="0 0 .7" gravcomp="0.5">
<geom type="ellipsoid" size=".2 .2 .4" density="200" material="grid"/>
<site name="head" pos="0 0 .4" size=".1 .1 .05" type="box"/>
<site name="anchor0" pos="0 .2 0"/>
<site name="anchor_knee" pos="-.16 -.16 0"/>
<site name="rf" pos="0 0 -0.41" zaxis="0 0 -1"/>
<freejoint/>
<body euler="0 0 0" pos=".2 0 -.2">
<joint name="hipz_0" class="hip1" axis="0 0 1"/>
<joint name="hipy_0" class="hip0" axis="0 1 0"/>
<geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
<body pos=".3 0 0">
<site name="knee"/>
<geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .1 0 -.3"/>
<body pos=".1 0 -.3">
<joint name="wheel_0" type="ball" class="wheel"/>
<site name="wheel_0" type="box" size=".1 .1 .1"/>
<geom name="wheel_0" size=".1 .2 .1" rgba="0 1 0 1" type="ellipsoid"/>
</body>
</body>
</body>
<body euler="0 0 120" pos="-.15 .2 -.2">
<joint name="hipz_1" class="hip1" axis="0 0 1"/>
<joint name="hipy_1" class="hip0" axis="0 1 0"/>
<geom type="box" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
<geom type="box" size=".05" rgba="1 0 0 1" fromto=".3 0 0 .4 0 -.3"/>
<body pos=".45 0 -.3">
<joint name="wheel_1" axis="1 0 0" class="wheel"/>
<geom size=".1" rgba="0 1 0 1" type="cylinder" fromto="0 0 0 .03 0 0"/>
<site name="wheel_1" type="box" size=".02 .11 .11" pos=".015 0 0"/>
</body>
</body>
<body euler="0 0 240" pos="-.15 -.2 -.2">
<joint name="hipz_2" class="hip1" axis="0 0 1"/>
<joint name="hipy_2" class="hip0" axis="0 1 0"/>
<geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
<geom type="capsule" size=".05" rgba="1 0 0 1" fromto=".3 0 0 .4 0 -.3"/>
<site name="knee_2" pos=".3 0 .05"/>
<body pos=".45 0 -.3">
<joint name="wheel_2" axis="1 0 0" class="wheel"/>
<geom size=".1" rgba="0 1 0 1" type="cylinder" fromto="0 0 0 .03 0 0" margin="0.01"/>
<site name="wheel_2" size=".13" rgba="0 0 0 0.1" type="cylinder" fromto="-.01 0 0 .04 0 0"/>
</body>
</body>
</body>
<body pos="-.33 0 1">
<joint name="slider" type="slide" axis="0 0 1" limited="true" range="-.2 .5"/>
<joint type="hinge" axis="0 1 0"/>
<geom type="mesh" mesh="icosahedron" size=".1" rgba="0 0 1 1"/>
</body>
<body name="cylinder" pos="-.5 .3 .7">
<freejoint/>
<geom name="wrapping" type="cylinder" size=".04" fromto="-.1 -.2 0 .1 .4 0"/>
<site name="cylinder"/>
</body>
<site name="sidesite" pos="-.5 .4 1"/>
<body pos="-.3 .6 .8">
<freejoint/>
<geom type="box" size=".05 .05 .05" rgba="0 0 1 1"/>
<site name="anchor1" pos=".05 .05 .05"/>
</body>
<body pos="-.6 .4 .8">
<freejoint/>
<geom type="box" size=".05 .05 .05" rgba="0 0 1 1"/>
<site name="anchor2" pos=".05 .05 .05"/>
</body>
<body name="tumbling" pos="-.2 .3 1">
<freejoint/>
<geom type="box" size=".025 .01 0.0001" pos=".025 0 0" euler="20 0 0" mass="1e-4" fluidshape="ellipsoid"/>
<geom type="box" size=".025 .01 0.0001" pos="-.025 0 0" euler="-19 0 0" mass="1e-4" fluidshape="ellipsoid"/>
</body>
</worldbody>
<equality>
<weld body1="world" body2="cylinder"/>
</equality>
<tendon>
<spatial name="spatial" limited="true" range="0 .7" rgba="1 0 1 1">
<site site="anchor0"/>
<site site="anchor1"/>
<geom geom="wrapping" sidesite="sidesite"/>
<site site="anchor2"/>
</spatial>
<spatial name="knee" limited="true" range=".4 .5" rgba="1 0 1 1" armature="0.1">
<site site="anchor_knee"/>
<site site="knee_2"/>
</spatial>
<fixed name="fixed">
<joint joint="hipy_0" coef="1"/>
<joint joint="hipy_1" coef="1"/>
</fixed>
</tendon>
<actuator>
<motor tendon="fixed" gear="100"/>
<motor tendon="spatial" gear="10"/>
<motor joint="hipy_2" gear="100"/>
<position joint="hipz_1" kp="100"/>
<position joint="hipz_2" kp="100"/>
<velocity joint="wheel_2" kv="1"/>
<intvelocity joint="hipz_0" kp="100" actrange="-1 1"/>
<general site="wheel_0" gear="0 0 0 0 10 0" dyntype="filter" dynprm="1"/>
<general joint="wheel_1" biastype="affine" dyntype="integrator" dynprm="1" biasprm="0 -1"/>
<general joint="hipy_1" actearly="true" dyntype="filterexact" dynprm="0.9" gear="12.1" />
</actuator>
<sensor>
<framepos objtype="site" objname="wheel_0" reftype="site" refname="wheel_2"/>
<rangefinder site="rf"/>
<gyro site="wheel_2"/>
<touch site="wheel_1"/>
<force site="knee"/>
<torque site="knee"/>
<force site="cylinder"/>
<torque site="cylinder"/>
<jointlimitfrc joint="slider"/>
<accelerometer site="head"/>
<subtreeangmom body="head"/>
</sensor>
<keyframe>
<key name="start"
qpos="0.0133625 -0.013799 0.659429 0.999776 0.019159 0.00902704 0.000572574 -0.00776575 0.0983289 0.999861 -0.00869796 -0.0141805 0.000912197 0.00700633 0.0930296 0.00637469 -0.00313231 0.119692 0.0051478 -0.0469067 0 -0.500224 0.300659 0.69913 1 -0.000367766 -0.000265698 -0.000109715 -0.319851 0.525628 0.702735 0.29858 0.698263 -0.0490604 -0.648746 -0.579432 0.4206 0.749601 0.900145 -0.208463 0.346664 -0.161576 -0.200033 0.300084 0.976421 0.878429 -0.00171382 0.00127086 -0.477867"
qvel="0.508861 -0.243772 -0.327162 0.549686 1.13746 0.0282475 -0.0865243 1.06414 -0.239958 -0.532111 -0.00133789 -0.0654491 0.533148 -0.253161 0.122149 0.824764 0.723529 -0.674175 0 -0.00154509 -0.00568917 0.00479921 0.00541817 0.00115895 0.00317796 -0.160161 -0.599488 -1.38103 14.9789 -1.05454 -13.9252 -0.31223 -0.0102486 -0.405851 5.43992 -4.71514 0.114928 -0.00123758 0.000187845 -0.244109 -0.190199 0.0697975 -16.3286"/>
</keyframe>
<custom>
<numeric name="numeric" data="1 2 3"/>
<text name="text" data="abc"/>
<tuple name="tuple">
<element objtype="body" objname="cylinder" prm="1"/>
<element objtype="joint" objname="hipz_0" prm="2"/>
</tuple>
</custom>
</mujoco>
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