| <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"/> |
| <mesh name="arm_link_sh0_base_coll" file="arm_link_sh0_base.obj"/> |
| <mesh name="arm_link_sh0_left_motor_coll" file="arm_link_sh0_left_motor.obj"/> |
| <mesh name="arm_link_sh0_right_motor_coll" file="arm_link_sh0_right_motor.obj"/> |
| <mesh name="arm_link_hr0_coll" file="arm_link_hr0_coll.obj"/> |
| <mesh name="arm_link_el0_coll" file="arm_link_el0_coll.obj"/> |
| <mesh name="arm_link_el1_main_coll" file="arm_link_el1_main.obj"/> |
| <mesh name="arm_link_el1_lip_coll" file="arm_link_el1_lip.obj"/> |
| <mesh name="arm_link_wr0_coll" file="arm_link_wr0.obj"/> |
| <mesh name="arm_link_wr1_coll" file="arm_link_wr1.obj"/> |
| <mesh name="front_jaw_coll" file="front_jaw.obj"/> |
| <mesh name="middle_jaw_coll" file="middle_jaw.obj"/> |
| <mesh name="jaw_tooth_coll" file="jaw_tooth.obj"/> |
| <mesh name="left_hinge_coll" file="left_hinge.obj"/> |
| <mesh name="left_finger_coll" file="left_finger.obj"/> |
| <mesh name="left_tooth_coll" file="left_tooth.obj"/> |
| <mesh name="right_hinge_coll" file="right_hinge.obj"/> |
| <mesh name="right_finger_coll" file="right_finger.obj"/> |
| <mesh name="right_tooth_coll" file="right_tooth.obj"/> |
| <mesh file="arm_link_sh0.obj"/> |
| <mesh file="arm_link_sh1_0.obj"/> |
| <mesh file="arm_link_sh1_1.obj"/> |
| <mesh file="arm_link_hr0.obj"/> |
| <mesh file="arm_link_el0.obj"/> |
| <mesh file="arm_link_el1_0.obj"/> |
| <mesh file="arm_link_el1_1.obj"/> |
| <mesh file="arm_link_wr0_0.obj"/> |
| <mesh file="arm_link_wr0_1.obj"/> |
| <mesh file="arm_link_wr1_0.obj"/> |
| <mesh file="arm_link_wr1_1.obj"/> |
| <mesh file="arm_link_fngr_0.obj"/> |
| <mesh file="arm_link_fngr_1.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 name="arm_link_sh0" pos="0.292 0 0.188"> |
| <inertial pos="-0.0123727 -4.52114e-05 -0.021032" quat="0.707107 0.707107 0 0" mass="2.3364" |
| diaginertia="0.0090143 0.00778748 0.0058351"/> |
| <joint name="arm_sh0" axis="0 0 1" range="-2.61799 3.14159"/> |
| <geom material="BlackAbs" mesh="arm_link_sh0" class="visual" rgba=".1 .1 .1 1"/> |
| <geom class="collision" mesh="arm_link_sh0_base_coll"/> |
| <geom class="collision" mesh="arm_link_sh0_left_motor_coll"/> |
| <geom class="collision" mesh="arm_link_sh0_right_motor_coll"/> |
| <body name="arm_link_sh1"> |
| <inertial pos="2.41764e-05 2.41161e-06 -1.00591e-05" quat="1 1 -1 1" mass="0.2596" |
| diaginertia="0.00020385 0.000202928 0.000170786"/> |
| <joint name="arm_sh1" axis="0 1 0" range="-3.14159 0.523599"/> |
| <geom mesh="arm_link_sh1_0" material="wrap" class="visual"/> |
| <geom mesh="arm_link_sh1_1" material="BlackAbs" class="visual"/> |
| <body name="arm_link_hr0"> |
| <inertial pos="0.17047 -0.0019251 4.48389e-05" quat="0 1 0 1" mass="1e-06" |
| diaginertia="1.16111e-08 1.14871e-08 6.31263e-10"/> |
| <geom class="collision" mesh="arm_link_hr0_coll"/> |
| <body name="arm_link_el0" pos="0.3385 0 0"> |
| <inertial pos="0.0553741 0.000236034 0.048272" quat="1 1 1 1" mass="0.725" |
| diaginertia="0.00200479 0.00197228 0.000821537"/> |
| <joint name="arm_el0" axis="0 1 0" range="0 3.14159"/> |
| <geom material="BlackAbs" mesh="arm_link_el0" class="visual"/> |
| <geom mesh="arm_link_el0_coll" class="collision"/> |
| <body name="arm_link_el1" pos="0.4033 0 0.075"> |
| <inertial pos="-0.125784 -0.0136845 0.000101579" quat="0 1 0 1" mass="0.725" |
| diaginertia="0.00451592 0.00440245 0.000625481"/> |
| <joint name="arm_el1" axis="1 0 0" range="-2.79253 2.79253"/> |
| <geom mesh="arm_link_el1_0" material="wrap" class="visual"/> |
| <geom mesh="arm_link_el1_1" material="BlackAbs" class="visual"/> |
| <geom class="collision" mesh="arm_link_el1_main_coll"/> |
| <geom class="collision" mesh="arm_link_el1_lip_coll"/> |
| <body name="arm_link_wr0"> |
| <inertial pos="0.00821068 -0.012051 3.14348e-05" quat="1 1 -1 1" mass="0.98" |
| diaginertia="0.00123549 0.000985132 0.000891615"/> |
| <joint name="arm_wr0" axis="0 1 0" range="-1.8326 1.8326"/> |
| <geom mesh="arm_link_wr0_0" material="wrap" class="visual"/> |
| <geom mesh="arm_link_wr0_1" material="BlackAbs" class="visual"/> |
| <geom class="collision" mesh="arm_link_wr0_coll"/> |
| <body name="arm_link_wr1"> |
| <inertial pos="0.125168 0.000101374 -0.013998" quat="1 1 1 1" mass="0.785" |
| diaginertia="0.00176281 0.00168181 0.000767414"/> |
| <joint name="arm_wr1" axis="1 0 0" range="-2.87979 2.87979"/> |
| <geom mesh="arm_link_wr1_0" material="wrap" class="visual"/> |
| <geom mesh="arm_link_wr1_1" material="BlackAbs" class="visual"/> |
| <geom class="collision" mesh="arm_link_wr1_coll"/> |
| <geom class="collision" mesh="front_jaw_coll"/> |
| <geom class="collision" mesh="middle_jaw_coll"/> |
| <geom class="collision" mesh="jaw_tooth_coll"/> |
| <body name="arm_link_fngr" pos="0.11745 0 0.01482"> |
| <inertial pos="0.0478787 -0.000206768 -0.0162879" quat="0 1 0 1" mass="0.2" |
| diaginertia="0.000391278 0.000300713 0.000143996"/> |
| <joint name="arm_f1x" axis="0 1 0" range="-1.57 0"/> |
| <geom mesh="arm_link_fngr_0" material="wrap" class="visual"/> |
| <geom mesh="arm_link_fngr_1" material="BlackAbs" class="visual"/> |
| <geom class="collision" mesh="left_hinge_coll"/> |
| <geom class="collision" mesh="left_finger_coll"/> |
| <geom class="collision" mesh="left_tooth_coll"/> |
| <geom class="collision" mesh="right_hinge_coll"/> |
| <geom class="collision" mesh="right_finger_coll"/> |
| <geom class="collision" mesh="right_tooth_coll"/> |
| </body> |
| </body> |
| </body> |
| </body> |
| </body> |
| </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"/> |
|
|
| <position class="spot" name="arm_sh0" joint="arm_sh0"/> |
| <position class="spot" name="arm_sh1" joint="arm_sh1"/> |
| <position class="spot" name="arm_el0" joint="arm_el0"/> |
| <position class="spot" name="arm_el1" joint="arm_el1"/> |
| <position class="spot" name="arm_wr0" joint="arm_wr0"/> |
| <position class="spot" name="arm_wr1" joint="arm_wr1"/> |
| <position class="spot" name="arm_f1x" joint="arm_f1x"/> |
| </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 |
| 0 -3.14 3.06 0 0 0 0" |
| ctrl=" |
| 0 1.04 -1.8 |
| 0 1.04 -1.8 |
| 0 1.04 -1.8 |
| 0 1.04 -1.8 |
| 0 -3.14 3.06 0 0 0 0"/> |
| </keyframe> |
| </mujoco> |
|
|
