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Running on Zero
Running on Zero
| <mujoco model="spinner"> | |
| <include file="./common/skybox.xml"/> | |
| <include file="./common/visual.xml"/> | |
| <include file="./common/materials.xml"/> | |
| <compiler settotalmass="2"/> | |
| <default> | |
| <default class="spinner"> | |
| <joint limited="true" damping=".01" armature=".1" stiffness="8" type="hinge" axis="0 1 0"/> | |
| <geom contype="1" conaffinity="1" condim="3" friction=".15 .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="200 .8 .5" material="grid"/> | |
| <body name="torso" pos="0 0 .9" childclass="spinner"> | |
| <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="sphere" pos="0 0 0" size="0.22"/> | |
| <!-- Spinner limbs placed evenly at 72-degree intervals --> | |
| <!-- Two small inanimate eyes --> | |
| <geom name="eye_left" type="sphere" pos="-0.06 -0.16 0.12" size="0.037" material="eye"/> | |
| <geom name="eye_right" type="sphere" pos="0.06 -0.16 0.12" size="0.037" material="eye"/> | |
| <!-- Limb 0: 0° --> | |
| <body name="limb_0" pos="0 0 0" euler="0 0 0"> | |
| <joint name="limb_0" type="hinge" axis="0 1 0" range="-35 35" stiffness="220" damping="5"/> | |
| <geom type="capsule" fromto="0 0 0 0 0 0.566" size="0.052"/> | |
| <geom type="sphere" pos="0 0 0.566" size="0.078"/> | |
| </body> | |
| <!-- Limb 1: 72° --> | |
| <body name="limb_1" pos="0 0 0" euler="0 72 0"> | |
| <joint name="limb_1" type="hinge" axis="0 1 0" range="-35 35" stiffness="220" damping="5"/> | |
| <geom type="capsule" fromto="0 0 0 0 0 0.566" size="0.052"/> | |
| <geom type="sphere" pos="0 0 0.566" size="0.078"/> | |
| </body> | |
| <!-- Limb 2: 144° --> | |
| <body name="limb_2" pos="0 0 0" euler="0 144 0"> | |
| <joint name="limb_2" type="hinge" axis="0 1 0" range="-35 35" stiffness="220" damping="5"/> | |
| <geom type="capsule" fromto="0 0 0 0 0 0.566" size="0.052"/> | |
| <geom type="sphere" pos="0 0 0.566" size="0.078"/> | |
| </body> | |
| <!-- Limb 3: 216° --> | |
| <body name="limb_3" pos="0 0 0" euler="0 216 0"> | |
| <joint name="limb_3" type="hinge" axis="0 1 0" range="-35 35" stiffness="220" damping="5"/> | |
| <geom type="capsule" fromto="0 0 0 0 0 0.566" size="0.052"/> | |
| <geom type="sphere" pos="0 0 0.566" size="0.078"/> | |
| </body> | |
| <!-- Limb 4: 288° --> | |
| <body name="limb_4" pos="0 0 0" euler="0 288 0"> | |
| <joint name="limb_4" type="hinge" axis="0 1 0" range="-35 35" stiffness="220" damping="5"/> | |
| <geom type="capsule" fromto="0 0 0 0 0 0.566" size="0.052"/> | |
| <geom type="sphere" pos="0 0 0.566" size="0.078"/> | |
| </body> | |
| </body> | |
| </worldbody> | |
| <sensor> | |
| <subtreelinvel name="torso_subtreelinvel" body="torso"/> | |
| </sensor> | |
| <actuator> | |
| <motor name="limb_0" joint="limb_0" gear="100" /> | |
| <motor name="limb_1" joint="limb_1" gear="100" /> | |
| <motor name="limb_2" joint="limb_2" gear="100" /> | |
| <motor name="limb_3" joint="limb_3" gear="100" /> | |
| <motor name="limb_4" joint="limb_4" gear="100" /> | |
| </actuator> | |
| </mujoco> | |