Repository navigation
Expand file tree
/
Copy pathmodel.xml
More file actions
90 lines (65 loc) · 3.91 KB
/
Copy pathmodel.xml
File metadata and controls
90 lines (65 loc) · 3.91 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
<?xml version='1.0' encoding='UTF-8'?>
<mujoco>
<option timestep="1e-4"/>
<option gravity="0 0 -9.8"/>
<worldbody>
<body name="floor" pos="0 0 -0.1">
<geom type="plane" size="1 1 0.1"/>
</body>
<body name="jumpingMechanism" pos="0 0 1.5">
<joint name="mainBody" type="slide" axis="0 0 1"/>
<geom type="box" size="0.3 0.1 0.1"/>
<site name="mainBody" pos="0 0 0" size="0.1"/>
<!--Left leg starts here-->
<body name="leftHip" pos="-0.08 -0.1 0" euler="90 0 0"> <!--pos = "XN -0.1 0, where XN is distance"-->
<joint name="hipLeft" type="hinge" axis="0 0 1" damping="0.7314354831457318" limited="true" range="-45 0"/>
<geom type="cylinder" size="0.05 0.06"/>
<site name="leftHip" size="0.05"/>
<!--pos = "0 -N 0.03", where N - is length of l1-->
<body name="leftL1" pos="0 -0.1 0.03">
<geom name="leftL1" type="box" size="0.05 0.1 0.03"/> <!--size = "0.05 N 0.03"-->
<body name="leftKnee" pos="0 -0.1 0"> <!--pos = "0 -N 0", where N - is length of l1-->
<joint name="kneeLeft" type="hinge" axis="0 0 1" limited="true" range="0 45"/>
<geom type="cylinder" size="0.05 0.06" pos="0 0 -0.03"/>
<site name="leftKnee" size="0.05"/>
<body name="leftL2" euler="0 90 0" pos="0 -0.14 -0.06"> <!--pos = "0 -M -0.06", where M - is length of l2-->
<geom name="leftL2" type="box" size="0.03 0.14 0.05"/> <!--size = "0.03 M 0.05"-->
<body name="endeffector" pos="0 -0.14 0" euler="0 90 0"><!--pos = "0 -M 0"-->
<geom type="cylinder" size="0.1 0.05"/>
<site name="linkOne" size="0.05"/>
</body>
</body>
</body>
</body>
</body> <!--Left leg ends here-->
<!--Right leg starts here-->
<body name="rightHip" pos="0.08 -0.1 0" euler="90 0 0"> <!--pos = "XN -0.1 0, where XN is distance"-->
<joint name="hipRight" type="hinge" axis="0 0 1" damping="0.7314354831457318" limited="true" range="0 45"/>
<geom type="cylinder" size="0.05 0.06"/>
<site name="rightHip" size="0.05"/>
<!--pos = "0 N 0.03", where N - is length of l1-->
<body name="rightL1" pos="0 -0.1 0.03">
<geom name="rightL1" type="box" size="0.05 0.1 0.03"/> <!--size = "0.05 N 0.03"-->
<body name="rightKnee" pos="0 -0.1 0"> <!--pos = "0 -N 0", where N - is length of l1-->
<joint name="kneeRight" type="hinge" axis="0 0 1" range="-45 0"/>
<geom type="cylinder" size="0.05 0.06" pos="0 0 -0.03"/>
<site name="rightKnee" size="0.05"/>
<body name="rightL2" euler="0 90 0" pos="0 -0.14 -0.06"> <!--pos = "0 -M -0.06", where M - is length of l2-->
<geom name="rightL2" type="box" size="0.03 0.14 0.05"/> <!--size = "0.03 M 0.05"-->
<body name="linking" pos="0 -0.14 0" euler="0 90 0"><!--pos = "0 -M 0"-->
<site name="linkTwo" size="0.05"/>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<equality>
<connect site1="linkOne" site2="linkTwo"/>
</equality>
<actuator>
<motor name="leftHipMotor" joint="hipLeft" ctrllimited="true" ctrlrange="-18 18" gear="9"/>
<motor name="rightHipMotor" joint="hipRight" ctrllimited="true" ctrlrange="-18 18" gear="9"/>
</actuator>
</mujoco>