mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 05:10:08 +00:00
72 lines
4.1 KiB
XML
72 lines
4.1 KiB
XML
<mujoco model="ant">
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<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
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<option integrator="RK4" timestep="0.01"/>
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<custom>
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<numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
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</custom>
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<default>
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<joint armature="1" damping="1" limited="true"/>
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<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"/>
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</default>
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<worldbody>
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<body name="torso" pos="0 0 0.75">
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<geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
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<!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/-->
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<body name="front_left_leg" pos="0 0 0">
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<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"/>
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<body name="aux_1" pos="0.2 0.2 0">
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<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
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<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"/>
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<body pos="0.2 0.2 0" name="front_left_foot">
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<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
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<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"/>
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</body>
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</body>
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</body>
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<body name="front_right_leg" pos="0 0 0">
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<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
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<body name="aux_2" pos="-0.2 0.2 0">
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<joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
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<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
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<body pos="-0.2 0.2 0" name="front_right_foot">
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<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
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<geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
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</body>
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</body>
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</body>
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<body name="left_back_leg" pos="0 0 0">
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<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
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<body name="aux_3" pos="-0.2 -0.2 0">
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<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
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<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
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<body pos="-0.2 -0.2 0" name="left_back_foot">
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<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
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<geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
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</body>
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</body>
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</body>
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<body name="right_back_leg" pos="0 0 0">
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<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"/>
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<body name="aux_4" pos="0.2 -0.2 0">
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<joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
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<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"/>
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<body pos="0.2 -0.2 0" name="right_back_foot">
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<joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
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<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"/>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<actuator>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
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</actuator>
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</mujoco>
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