AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-12 21:00:11 +00:00
Code Issues Releases Wiki Activity

Update mjcf files!

Browse Source 
----------------------------------
Git did not realize I changed those.
This commit is contained in:
Benelot 2017-08-17 00:04:21 +02:00
parent f74a9299a8
commit aed57d130e
12 changed files with 514 additions and 77 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

51
data/mjcf/ant.xml
View File

@ -6,62 +6,53 @@
</custom>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/>
<geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/>
</default>
<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"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
<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" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
<body name="torso" pos="0 0 0.75">
<geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
<joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
<!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/-->
<body name="front_left_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule"/>
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_1" pos="0.2 0.2 0">
<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule"/>
<body pos="0.2 0.2 0">
<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0.2 0.2 0" name="front_left_foot">
<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
</body>
</body>
</body>
<body name="front_right_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
<body name="aux_2" pos="-0.2 0.2 0">
<joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
<body pos="-0.2 0.2 0">
<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
<body pos="-0.2 0.2 0" name="front_right_foot">
<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
</body>
</body>
</body>
<body name="back_leg" pos="0 0 0">
<body name="left_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
<body name="aux_3" pos="-0.2 -0.2 0">
<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
<body pos="-0.2 -0.2 0">
<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
<body pos="-0.2 -0.2 0" name="left_back_foot">
<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
</body>
</body>
</body>
<body name="right_back_leg" pos="0 0 0">
<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule"/>
<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body name="aux_4" pos="0.2 -0.2 0">
<joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule"/>
<body pos="0.2 -0.2 0">
<joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
<body pos="0.2 -0.2 0" name="right_back_foot">
<joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
<geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
</body>
</body>
</body>

5
data/mjcf/ground_plane.xml Normal file
View File

@ -0,0 +1,5 @@
<mujoco model="ground_plane">
<worldbody>
<geom conaffinity="1" condim="3" name="floor" friction="0.8 0.1 0.1" pos="0 0 0" type="plane"/>
</worldbody>
</mujoco>

88
data/mjcf/half_cheetah.xml Normal file
View File

@ -0,0 +1,88 @@
<!-- Cheetah Model
The state space is populated with joints in the order that they are
defined in this file. The actuators also operate on joints.
State-Space (name/joint/parameter):
- rootx slider position (m)
- rootz slider position (m)
- rooty hinge angle (rad)
- bthigh hinge angle (rad)
- bshin hinge angle (rad)
- bfoot hinge angle (rad)
- fthigh hinge angle (rad)
- fshin hinge angle (rad)
- ffoot hinge angle (rad)
- rootx slider velocity (m/s)
- rootz slider velocity (m/s)
- rooty hinge angular velocity (rad/s)
- bthigh hinge angular velocity (rad/s)
- bshin hinge angular velocity (rad/s)
- bfoot hinge angular velocity (rad/s)
- fthigh hinge angular velocity (rad/s)
- fshin hinge angular velocity (rad/s)
- ffoot hinge angular velocity (rad/s)
Actuators (name/actuator/parameter):
- bthigh hinge torque (N m)
- bshin hinge torque (N m)
- bfoot hinge torque (N m)
- fthigh hinge torque (N m)
- fshin hinge torque (N m)
- ffoot hinge torque (N m)
-->
<mujoco model="cheetah">
<compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/>
<default>
<joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
<geom conaffinity="0" condim="3" contype="1" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
<motor ctrllimited="true" ctrlrange="-1 1"/>
</default>
<size nstack="300000" nuser_geom="1"/>
<option gravity="0 0 -9.81" timestep="0.01"/>
<worldbody>
<body name="torso" pos="0 0 .7">
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
<geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/>
<geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
<!-- <site name='tip' pos='.15 0 .11'/>-->
<body name="bthigh" pos="-.5 0 0">
<joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
<geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
<body name="bshin" pos=".16 0 -.25">
<joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
<geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
<body name="bfoot" pos="-.28 0 -.14">
<joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
<geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
<inertial mass="10"/>
</body>
</body>
</body>
<body name="fthigh" pos=".5 0 0">
<joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1.5 0.8" stiffness="180" type="hinge"/>
<geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
<body name="fshin" pos="-.14 0 -.24">
<joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 1.1" stiffness="120" type="hinge"/>
<geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
<body name="ffoot" pos=".13 0 -.18">
<joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-3.1 -0.3" stiffness="60" type="hinge"/>
<geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
<inertial mass="10"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor gear="120" joint="bthigh" name="bthigh"/>
<motor gear="90" joint="bshin" name="bshin"/>
<motor gear="60" joint="bfoot" name="bfoot"/>
<motor gear="120" joint="fthigh" name="fthigh"/>
<motor gear="60" joint="fshin" name="fshin"/>
<motor gear="30" joint="ffoot" name="ffoot"/>
</actuator>
</mujoco>

43
data/mjcf/hopper.xml
View File

@ -1,28 +1,31 @@
<mujoco model="hopper">
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
<default>
<joint armature="1" damping="1" />
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
<joint armature="1" damping="1" limited="true"/>
<geom conaffinity="1" condim="1" contype="1" margin="0.001" friction="0.8 .1 .1" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
</default>
<option integrator="RK4" timestep="0.002"/>
<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 .125" type="plane" material="MatPlane"/>
<body name="torso" pos="0 0 1.25">
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/>
<geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
<body name="thigh" pos="0 0 1.05">
<!-- CHANGE: body pos="" deleted for all bodies (you can also set pos="0 0 0", it works)
Interpretation of body pos="" depends on coordinate="global" above.
Bullet doesn't support global coordinates in bodies, little motivation to fix this, as long as it works without pos="" as well.
After this change, Hopper still loads and works in MuJoCo simulator.
-->
<body name="torso">
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignore1" pos="0 0 0" stiffness="0" type="slide"/>
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignore2" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignore3" pos="0 0 0" stiffness="0" type="hinge"/>
<geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
<body name="thigh">
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
<geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
<body name="leg" pos="0 0 0.35">
<geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
<body name="leg">
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
<geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
<body name="foot" pos="0.13/2 0 0.1">
<geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
<body name="foot">
<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
<geom friction="2.0" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
<geom fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
</body>
</body>
</body>
@ -33,12 +36,4 @@
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
</actuator>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0"
width="100" height="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"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
</mujoco>
</mujoco>

13
data/mjcf/humanoid_symmetric.xml
View File

@ -2,7 +2,7 @@
<compiler angle="degree" inertiafromgeom="true"/>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
<geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
</default>
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
@ -12,18 +12,7 @@
<visual>
<map fogend="5" fogstart="3"/>
</visual>
<asset>
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
<!-- <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"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
<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 condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
<!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
<body name="torso" pos="0 0 1.4">
<!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>

4
data/mjcf/inverted_double_pendulum.xml
View File

@ -36,7 +36,7 @@
<body name="pole2" pos="0 0 0.6">
<joint axis="0 1 0" name="hinge2" pos="0 0 0" type="hinge"/>
<geom fromto="0 0 0 0 0 0.6" name="cpole2" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
<site name="tip" pos="0 0 .6" size="0.01 0.01"/>
<!--site name="tip" pos="0 0 .6" size="0.01 0.01"/-->
</body>
</body>
</body>
@ -44,4 +44,4 @@
<actuator>
<motor ctrllimited="true" ctrlrange="-1 1" gear="500" joint="slider" name="slide"/>
</actuator>
</mujoco>
</mujoco>

10
data/mjcf/inverted_pendulum.xml
View File

@ -2,7 +2,7 @@
<compiler inertiafromgeom="true"/>
<default>
<joint armature="0" damping="1" limited="true"/>
<geom friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
<tendon/>
<motor ctrlrange="-3 3"/>
</default>
@ -10,12 +10,12 @@
<size nstack="3000"/>
<worldbody>
<!--geom name="ground" type="plane" pos="0 0 0" /-->
<!-- <geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/> /-->
<body name="cart1" pos="0 0 0">
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
<body name="cart" pos="0 0 0">
<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
<body name="pole" pos="0 0 0">
<joint axis="0 1 0" name="hinge" pos="0 0 0" range="-90 90" type="hinge"/>
<joint axis="0 1 0" name="hinge" pos="0 0 0" limited="false" range="-90 90" type="hinge"/>
<geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
<!-- <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
</body>
@ -24,4 +24,4 @@
<actuator>
<motor gear="100" joint="slider" name="slide"/>
</actuator>
</mujoco>
</mujoco>

90
data/mjcf/pusher.xml Normal file
View File

@ -0,0 +1,90 @@
<mujoco model="pusher">
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
<default>
<joint armature='0.04' damping="0" limited="true"/>
<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
</default>
<option timestep="0.01" gravity="0 0 0" integrator="RK4" />
<worldbody>
<!--Arena-->
<geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
<!--Arm-->
<body name="shoulder_pan_link" pos="0 -0.6 0">
<geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
<geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
<geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
<geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
<geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
<joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="0" />
<body name="shoulder_lift_link" pos="0.1 0 0">
<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="0" />
<body name="upper_arm_roll_link" pos="0 0 0">
<geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
<joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0" />
<body name="upper_arm_link" pos="0 0 0">
<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
<body name="elbow_flex_link" pos="0.4 0 0">
<geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
<joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0" />
<body name="forearm_roll_link" pos="0 0 0">
<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="0" range="-1.5 1.5"/>
<body name="forearm_link" pos="0 0 0">
<geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
<body name="wrist_flex_link" pos="0.321 0 0">
<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping="0" />
<body name="wrist_roll_link" pos="0 0 0">
<joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0" range="-1.5 1.5"/>
<body name="fingertip" pos="0 0 0">
<geom name="tip_arml" type="sphere" pos="0.1 -0.1 0." size="0.01" />
<geom name="tip_armr" type="sphere" pos="0.1 0.1 0." size="0.01" />
</body>
<geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" contype="1" conaffinity="1" />
<geom type="capsule" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" contype="1" conaffinity="1" />
<geom type="capsule" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" contype="1" conaffinity="1" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--Object-->
<body name="object" pos="0.45 -0.05 -0.275" >
<geom rgba="1 1 1 0" type="sphere" size="0.05 0.05 0.05" density="0.00001" conaffinity="0"/>
<geom rgba="1 1 1 1" type="cylinder" size="0.05 0.05 0.05" density="0.00001" contype="1" conaffinity="0"/>
<joint name="object_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
<joint name="object_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
</body>
<!--Target-->
<body name="target" pos="0.45 -0.05 -0.3230">
<geom rgba="1 0 0 1" type="cylinder" size="0.08 0.001 0.1" density='0.00001' contype="0" conaffinity="0"/>
<joint name="target_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
<joint name="target_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
</body>
</worldbody>
<actuator>
<motor joint="shoulder_pan_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
<motor joint="shoulder_lift_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
<motor joint="upper_arm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
<motor joint="elbow_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
<motor joint="forearm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
<motor joint="wrist_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
<motor joint="wrist_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true"/>
</actuator>
</mujoco>

8
data/mjcf/reacher.xml
View File

@ -26,9 +26,9 @@
</body>
</body>
<!-- Target -->
<body name="target" pos=".1 -.1 .01">
<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" ref=".1" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" ref="-.1" stiffness="0" type="slide"/>
<body name="target" pos="0 0 .01">
<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>
</body>
</worldbody>
@ -36,4 +36,4 @@
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/>
</actuator>
</mujoco>
</mujoco>

100
data/mjcf/striker.xml Normal file
View File

@ -0,0 +1,100 @@
<mujoco model="striker">
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
<option timestep="0.01" gravity="0 0 0" integrator="RK4"/>
<default>
<joint armature='0.04' damping="0" limited="true"/>
<geom friction=".0 .0 .0" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
</default>
<worldbody>
<!--Arena-->
<geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
<!--Arm-->
<body name="shoulder_pan_link" pos="0 -0.6 0">
<geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
<geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
<geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
<geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
<geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
<joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="0" />
<body name="shoulder_lift_link" pos="0.1 0 0">
<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="0" />
<body name="upper_arm_roll_link" pos="0 0 0">
<geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
<joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0" />
<body name="upper_arm_link" pos="0 0 0">
<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
<body name="elbow_flex_link" pos="0.4 0 0">
<geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
<joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0" />
<body name="forearm_roll_link" pos="0 0 0">
<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="0" range="-1.5 1.5"/>
<body name="forearm_link" pos="0 0 0">
<geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
<body name="wrist_flex_link" pos="0.321 0 0">
<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping="0" />
<body name="wrist_roll_link" pos="0 0 0">
<joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0" range="-1.5 1.5"/>
<body name="fingertip" pos="0 0 0">
<geom name="tip_arml" type="box" pos="0.017 0 0" size="0.003 0.12 0.05" conaffinity="1" contype="1" />
</body>
<geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" conaffinity="1" contype="1" />
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--Object-->
<body name="object" pos="0 0 -0.270" >
<geom type="sphere" rgba="1 1 1 1" pos="0 0 0" size="0.05 0.05 0.05" contype="1" conaffinity="0"/>
<joint name="object_x" armature="0.1" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
<joint name="object_y" armature="0.1" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
</body>
<!--Target-->
<body name="target" pos="0.0 0.0 -0.3230">
<geom rgba="1. 1. 1. 0" pos="0 0 0" type="box" size="0.01 0.01 0.01" contype="0" conaffinity="0"/>
<body pos="0 0 0">
<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
</body>
<body name="coaster" pos="0 0 0">
<geom rgba="1. 1. 1. 1" type="cylinder" size="0.08 0.001 0.1" density='1000000' contype="0" conaffinity="0"/>
</body>
<body pos="0 0 0" axisangle="0 0 1 0.785">
<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
</body>
<body pos="0 0 0" axisangle="0 0 1 -0.785">
<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
</body>
<joint name="target_free" type="free" pos="0 0 0" limited="false" damping="0"/>
</body>
</worldbody>
<actuator>
<motor joint="shoulder_pan_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
<motor joint="shoulder_lift_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
<motor joint="upper_arm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
<motor joint="elbow_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
<motor joint="forearm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
<motor joint="wrist_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
<motor joint="wrist_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
</actuator>
</mujoco>

127
data/mjcf/thrower.xml Normal file
View File

@ -0,0 +1,127 @@
<mujoco model="thrower">
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
<default>
<joint armature='0.75' damping="0" limited="true"/>
<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
</default>
<worldbody>
<!--Arena-->
<geom type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
<!--Arm-->
<body name="shoulder_pan_link" pos="0 -0.6 0">
<geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" density="0.0001"/>
<geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" density="0.0001"/>
<geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" density="0.0001"/>
<geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" density="0.0001"/>
<geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" density="1"/>
<joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.4854 1.214602" damping="1.0"/>
<body name="shoulder_lift_link" pos="0.1 0 0">
<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" density="0.0001"/>
<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 0.7963" damping="1.0"/>
<body name="upper_arm_roll_link" pos="0 0 0">
<geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
<joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="1.0"/>
<body name="upper_arm_link" pos="0 0 0">
<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" density="0.0001"/>
<body name="elbow_flex_link" pos="0.4 0 0">
<geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" density="0.0001"/>
<joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.7 0.7" damping="1.0"/>
<body name="forearm_roll_link" pos="0 0 0">
<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="1.0" range="-1.5 1.5"/>
<body name="forearm_link" pos="0 0 0" axisangle="1 0 0 0.392">
<geom name="fa" type="capsule" fromto="0 0 0 0 0 0.291" size="0.05" density="0.0001"/>
<body name="wrist_flex_link" pos="0 0 0.321" axisangle="0 0 1 1.57">
<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" density="0.0001"/>
<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" damping="1.0" />
<body name="wrist_roll_link" pos="0 0 0" axisangle="0 1 0 -1.178">
<joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="0 1 0" damping="1.0" range="0 2.25"/>
<geom type="capsule" fromto="0 -0.05 0 0 0.05 0" size="0.01" contype="1" conaffinity="1" density="0.0001"/>
<body name="fingertip" pos="0 0 0" axisangle="0 0 1 0.392">
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density=".0001"/>
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
</body>
<body pos="0 0 0" axisangle="0 0 1 1.57">
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
</body>
<body pos="0 0 0" axisangle="0 0 1 1.178">
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
</body>
<body pos="0 0 0" axisangle="0 0 1 0.785">
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
</body>
<body pos="0 0 0" axisangle="0 0 1 1.96">
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
</body>
<body pos="0 0 0" axisangle="0 0 1 2.355">
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
</body>
<body pos="0 0 0" axisangle="0 0 1 2.74">
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!--Object-->
<body name="object" pos="0.5 -0.8 0.275">
<geom rgba="1. 1. 1. 1" type="sphere" size="0.03 0.03 0.1" density='25' contype="1" conaffinity="1"/>
<joint name="object_free" type="free" armature='0' damping="0" limited="false"/>
</body>
<!--Target-->
<body name="target" pos="0.575 0.5 -0.328">
<geom rgba="1 1 1 1" type="box" pos="0 0 0.005" size="0.075 0.075 0.001" contype="1" conaffinity="1" density="1000"/>
<geom rgba="1 1 1 1" type="box" pos="0.0 0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
<geom rgba="1 1 1 1" type="box" pos="0.0 -0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
<geom rgba="1 1 1 1" type="box" pos="0.075 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
<geom rgba="1 1 1 1" type="box" pos="-0.076 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
<geom rgba="1 1 1 1" type="capsule" fromto="0.073 0.073 0.0075 0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
<geom rgba="1 1 1 1" type="capsule" fromto="0.073 -0.073 0.0075 0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
<geom rgba="1 1 1 1" type="capsule" fromto="-0.073 0.073 0.0075 -0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
<geom rgba="1 1 1 1" type="capsule" fromto="-0.073 -0.073 0.0075 -0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
<joint name="target_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
<joint name="target_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
</body>
</worldbody>
<actuator>
<motor joint="shoulder_pan_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
<motor joint="shoulder_lift_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
<motor joint="upper_arm_roll_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
<motor joint="elbow_flex_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
<motor joint="forearm_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
<motor joint="wrist_flex_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
<motor joint="wrist_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true"/>
</actuator>
</mujoco>

52
data/mjcf/walker2d.xml Normal file
View File

@ -0,0 +1,52 @@
<mujoco model="walker2d">
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
<default>
<joint armature="0.01" damping=".1" limited="true"/>
<geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"/>
</default>
<option integrator="RK4" timestep="0.002"/>
<worldbody>
<!-- CHANGES: see hopper.xml -->
<body name="torso">
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
<geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
<body name="thigh">
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
<geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
<body name="leg">
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
<geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
<body name="foot">
<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
<geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
</body>
</body>
</body>
<!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right -->
<body name="thigh_left">
<joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
<geom fromto="0 0 1.05 0 0 0.6" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.05" type="capsule"/>
<body name="leg_left">
<joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
<geom fromto="0 0 0.6 0 0 0.1" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
<body name="foot_left">
<joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
<geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.06" type="capsule"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>-->
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/>
<!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/>-->
</actuator>
</mujoco>