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Copy pathquadruped.xml
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78 lines (73 loc) · 4.98 KB
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<!-- Modified quadruped: feet moved to shin end, friction adjusted -->
<mujoco model="quadruped">
<compiler angle="radian" inertiafromgeom="true"/>
<default>
<joint armature=".1" damping="0.15" limited="true" type="hinge" stiffness="5.0"/>
<geom conaffinity="0" condim="3" contype="1" material="geom" rgba=".8 .6 .4 1" type="capsule" size="0.02" solref="0.005 1" solimp="0.9 0.95 0.001"/>
<position ctrllimited="true" kp="120"/>
</default>
<option integrator="RK4" timestep="0.002" gravity="0 0 -9.81"/>
<visual><map znear="0.02"/></visual>
<asset>
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
<worldbody>
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
<geom conaffinity="1" condim="3" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.1" type="plane"/>
<body name="torso" pos="0 0 0.7">
<camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
<geom name="torso" pos="0 0 0" size="0.5 0.15 0.05" type="box"/>
<joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" type="free"/>
<!-- Slightly closer legs to ease support polygon -->
<body name="front_left_leg" pos="0.40 0.15 0">
<joint axis="0 1 0" name="hip_front_left" pos="0 0 0" range="-0.8 0.8" type="hinge" ref="0"/>
<geom fromto="0 0 0 0 0 -0.3" name="front_left_leg" size="0.05" type="capsule" friction="0.3 0.01 0.001"/>
<body pos="0 0 -0.3">
<joint axis="0 1 0" name="knee_front_left" pos="0 0 0" range="0 2" type="hinge" ref="0"/>
<geom fromto="0 0 0 0 0 -0.3" name="front_left_shin" size="0.05" type="capsule" friction="0.2 0.01 0.001"/>
<!-- foot moved to shin tip, larger radius, high friction -->
<geom name="foot_fl" type="sphere" size="0.05" pos="0 0 -0.3" friction="2.0 0.1 0.01"/>
</body>
</body>
<body name="front_right_leg" pos="0.40 -0.15 0">
<joint axis="0 1 0" name="hip_front_right" pos="0 0 0" range="-0.8 0.8" type="hinge" ref="0"/>
<geom fromto="0 0 0 0 0 -0.3" name="front_right_leg" size="0.05" type="capsule" friction="0.3 0.01 0.001"/>
<body pos="0 0 -0.3">
<joint axis="0 1 0" name="knee_front_right" pos="0 0 0" range="0 2" type="hinge"/>
<geom fromto="0 0 0 0 0 -0.3" name="front_right_shin" size="0.05" type="capsule" friction="0.2 0.01 0.001"/>
<geom name="foot_fr" type="sphere" size="0.05" pos="0 0 -0.3" friction="2.0 0.1 0.01"/>
</body>
</body>
<body name="back_left_leg" pos="-0.40 0.15 0">
<joint axis="0 1 0" name="hip_back_left" pos="0 0 0" range="-0.8 0.8" type="hinge" ref="0"/>
<geom fromto="0 0 0 0 0 -0.3" name="back_left_leg" size="0.05" type="capsule" friction="0.3 0.01 0.001"/>
<body pos="0 0 -0.3">
<joint axis="0 1 0" name="knee_back_left" pos="0 0 0" range="0 2" type="hinge" ref="0"/>
<geom fromto="0 0 0 0 0 -0.3" name="back_left_shin" size="0.05" type="capsule" friction="0.2 0.01 0.001"/>
<geom name="foot_rl" type="sphere" size="0.05" pos="0 0 -0.3" friction="2.0 0.1 0.01"/>
</body>
</body>
<body name="back_right_leg" pos="-0.40 -0.15 0">
<joint axis="0 1 0" name="hip_back_right" pos="0 0 0" range="-0.8 0.8" type="hinge" ref="0"/>
<geom fromto="0 0 0 0 0 -0.3" name="back_right_leg" size="0.05" type="capsule" friction="0.3 0.01 0.001"/>
<body pos="0 0 -0.3">
<joint axis="0 1 0" name="knee_back_right" pos="0 0 0" range="0 2" type="hinge" ref="0"/>
<geom fromto="0 0 0 0 0 -0.3" name="back_right_shin" size="0.05" type="capsule" friction="0.2 0.01 0.001"/>
<geom name="foot_rr" type="sphere" size="0.05" pos="0 0 -0.3" friction="2.0 0.1 0.01"/>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-2.0 2.0" gear="15" joint="hip_front_left" name="hip_front_left"/>
<motor ctrllimited="true" ctrlrange="-2.0 2.0" gear="15" joint="knee_front_left" name="knee_front_left"/>
<motor ctrllimited="true" ctrlrange="-2.0 2.0" gear="15" joint="hip_front_right" name="hip_front_right"/>
<motor ctrllimited="true" ctrlrange="-2.0 2.0" gear="15" joint="knee_front_right" name="knee_front_right"/>
<motor ctrllimited="true" ctrlrange="-2.0 2.0" gear="15" joint="hip_back_left" name="hip_back_left"/>
<motor ctrllimited="true" ctrlrange="-2.0 2.0" gear="15" joint="knee_back_left" name="knee_back_left"/>
<motor ctrllimited="true" ctrlrange="-2.0 2.0" gear="15" joint="hip_back_right" name="hip_back_right"/>
<motor ctrllimited="true" ctrlrange="-2.0 2.0" gear="15" joint="knee_back_right" name="knee_back_right"/>
</actuator>
</mujoco>