Spaces:
Running
on
Zero
Running
on
Zero
| <mujoco model="planar walker"> | |
| <include file="./common/skybox.xml"/> | |
| <include file="./common/visual.xml"/> | |
| <include file="./common/materials.xml"/> | |
| <option timestep="0.0025"/> | |
| <statistic extent="2" center="0 0 1"/> | |
| <default> | |
| <joint damping=".1" armature="0.01" limited="true" solimplimit="0 .99 .01"/> | |
| <geom contype="1" conaffinity="0" friction=".7 .1 .1"/> | |
| <motor ctrlrange="-1 1" ctrllimited="true"/> | |
| <site size="0.01"/> | |
| <default class="walker"> | |
| <geom material="self" type="capsule"/> | |
| <joint axis="0 -1 0"/> | |
| </default> | |
| </default> | |
| <worldbody> | |
| <geom name="floor" type="plane" conaffinity="1" pos="248 0 0" size="250 .8 .2" material="grid" zaxis="0 0 1"/> | |
| <body name="torso" pos="0 0 1.3" childclass="walker"> | |
| <light name="light" pos="0 0 2" mode="trackcom"/> | |
| <camera name="side" pos="0 -2 .7" euler="60 0 0" mode="trackcom"/> | |
| <camera name="back" pos="-2 0 .5" xyaxes="0 -1 0 1 0 3" mode="trackcom"/> | |
| <joint name="rootz" axis="0 0 1" type="slide" limited="false" armature="0" damping="0"/> | |
| <joint name="rootx" axis="1 0 0" type="slide" limited="false" armature="0" damping="0"/> | |
| <joint name="rooty" axis="0 1 0" type="hinge" limited="false" armature="0" damping="0"/> | |
| <geom name="torso" size="0.07 0.3"/> | |
| <body name="right_thigh" pos="0 -.05 -0.3"> | |
| <joint name="right_hip" range="-20 100"/> | |
| <geom name="right_thigh" pos="0 0 -0.225" size="0.05 0.225"/> | |
| <body name="right_leg" pos="0 0 -0.7"> | |
| <joint name="right_knee" pos="0 0 0.25" range="-150 0"/> | |
| <geom name="right_leg" size="0.04 0.25"/> | |
| <body name="right_foot" pos="0.06 0 -0.25"> | |
| <joint name="right_ankle" pos="-0.06 0 0" range="-45 45"/> | |
| <geom name="right_foot" zaxis="1 0 0" size="0.05 0.1"/> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="left_thigh" pos="0 .05 -0.3" > | |
| <joint name="left_hip" range="-20 100"/> | |
| <geom name="left_thigh" pos="0 0 -0.225" size="0.05 0.225"/> | |
| <body name="left_leg" pos="0 0 -0.7"> | |
| <joint name="left_knee" pos="0 0 0.25" range="-150 0"/> | |
| <geom name="left_leg" size="0.04 0.25"/> | |
| <body name="left_foot" pos="0.06 0 -0.25"> | |
| <joint name="left_ankle" pos="-0.06 0 0" range="-45 45"/> | |
| <geom name="left_foot" zaxis="1 0 0" size="0.05 0.1"/> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </worldbody> | |
| <sensor> | |
| <subtreelinvel name="torso_subtreelinvel" body="torso"/> | |
| </sensor> | |
| <actuator> | |
| <motor name="right_hip" joint="right_hip" gear="100"/> | |
| <motor name="right_knee" joint="right_knee" gear="50"/> | |
| <motor name="right_ankle" joint="right_ankle" gear="20"/> | |
| <motor name="left_hip" joint="left_hip" gear="100"/> | |
| <motor name="left_knee" joint="left_knee" gear="50"/> | |
| <motor name="left_ankle" joint="left_ankle" gear="20"/> | |
| </actuator> | |
| </mujoco> |