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