mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-13 21:30:09 +00:00
53 lines
3.1 KiB
XML
53 lines
3.1 KiB
XML
<mujoco model="walker2d">
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<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
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<default>
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<joint armature="0.01" damping=".1" limited="true"/>
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<geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"/>
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</default>
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<option integrator="RK4" timestep="0.002"/>
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<worldbody>
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<!-- CHANGES: see hopper.xml -->
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<body name="torso">
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<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
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<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
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<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
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<geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
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<body name="thigh">
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<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
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<geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
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<body name="leg">
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<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
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<geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
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<body name="foot">
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<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
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<geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
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</body>
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</body>
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</body>
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<!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right -->
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<body name="thigh_left">
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<joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
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<geom fromto="0 0 1.05 0 0 0.6" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.05" type="capsule"/>
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<body name="leg_left">
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<joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
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<geom fromto="0 0 0.6 0 0 0.1" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
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<body name="foot_left">
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<joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
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<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"/>
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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 joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>-->
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/>
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<!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/>-->
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</actuator>
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</mujoco>
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