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mujoco.xml
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<mujoco model="Marcos">
<option timestep="0.005"/>
<size njmax="8000" nconmax="4000"/>
<visual>
<map force="0.1" zfar="30"/>
<rgba haze="0.15 0.25 0.35 1"/>
</visual>
<statistic center="0 0 0.7"/>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
</asset>
<default>
<motor ctrlrange="-1 1" ctrllimited="true"/>
<default class="body">
<!-- geoms -->
<geom type="sphere" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/>
<!-- joints -->
<joint type="hinge" damping="7.5" stiffness="5" armature=".01" limited="true" solimplimit="0 .99 .01"/>
</default>
</default>
<worldbody>
<geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
<body name="Marcos_base" pos="0.0 0.0 0.14144048515319824" childclass="body">
<freejoint name="root"/>
<geom name="Marcos_base_1" pos="0.07749500000000001 -0.046755000000000005 0.119995" size="0.01"/>
<body name="basePan_RightFront" pos="0.0775 -0.04675 0.12" quat="6.171209208705922E-5 -0.7071684825084507 6.170132223498458E-5 0.7070450690947923">
<joint name="basePan_RightFront" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-34.019999999999996 84.10499999999999" />
<geom name="basePan_RightFront_A" pos="0.030994999527843004 4.105206537133909E-7 0.004995" size="0.01"/>
<geom name="basePan_RightFront_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<body name="baseTilt_RightFront" pos="0.030999999527843002 5.410520653713441E-6 0.005" quat="0.7072918743815211 -0.7069216341423136 -6.16905505034108E-5 6.172286005948052E-5">
<joint name="baseTilt_RightFront" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-85.05 85.05" />
<geom name="baseTilt_RightFront_A" pos="0.03888587296526011 -0.03889587296526012 -5.0E-6" size="0.01"/>
<geom name="baseTilt_RightFront_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<body name="elbow_RightFront" pos="0.038890872965260115 -0.03889087296526011 0.0" quat="0.9238795289934143 8.062369856820899E-5 -3.339542939563245E-5 -0.3826834309079392">
<joint name="elbow_RightFront" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-85.05 85.05" />
<geom name="elbow_RightFront_A" pos="-4.999999999997336E-6 0.047994999999999996 -5.0E-6" size="0.01"/>
<geom name="elbow_RightFront_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
</body>
</body>
</body>
<geom name="Marcos_base_2" pos="0.07749500000000001 0.046744999999999995 0.119995" size="0.01"/>
<body name="basePan_LeftFront" pos="0.0775 0.04675 0.12" quat="6.17120920876324E-5 -0.7071684825084507 6.170132223555764E-5 0.7070450690947923">
<joint name="basePan_LeftFront" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-85.05 35.91" />
<geom name="basePan_LeftFront_A" pos="0.030994999527843004 4.105206537133909E-7 0.004995" size="0.01"/>
<geom name="basePan_LeftFront_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<body name="baseTilt_LeftFront" pos="0.030999999527843002 5.410520653713441E-6 0.005" quat="0.7072918743815211 -0.7069216341423136 -6.16905505034108E-5 6.172286005948052E-5">
<joint name="baseTilt_LeftFront" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-85.05 85.05" />
<geom name="baseTilt_LeftFront_A" pos="0.03888587296526011 -0.03889587296526012 -5.0E-6" size="0.01"/>
<geom name="baseTilt_LeftFront_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<body name="elbow_LeftFront" pos="0.038890872965260115 -0.03889087296526011 0.0" quat="0.9238795289934143 8.062369856820899E-5 -3.339542939563245E-5 -0.3826834309079392">
<joint name="elbow_LeftFront" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-85.05 85.05" />
<geom name="elbow_LeftFront_A" pos="-4.999999999997336E-6 0.047994999999999996 -5.0E-6" size="0.01"/>
<geom name="elbow_LeftFront_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
</body>
</body>
</body>
<geom name="Marcos_base_3" pos="-0.07750499999999999 -0.046755000000000005 0.119995" size="0.01"/>
<body name="basePan_RightRear" pos="-0.0775 -0.04675 0.12" quat="-6.171209208705922E-5 -0.7071684825084507 -6.170132223498458E-5 0.7070450690947923">
<joint name="basePan_RightRear" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-37.8 85.05" />
<geom name="basePan_RightRear_A" pos="0.030995 -5.0E-6 0.004995" size="0.01"/>
<geom name="basePan_RightRear_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<body name="baseTilt_RightRear" pos="0.031 0.0 0.005" quat="0.7071067811865476 -0.7071067811865475 -0.0 -0.0">
<joint name="baseTilt_RightRear" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-85.05 85.05" />
<geom name="baseTilt_RightRear_A" pos="0.03888587296526011 -0.03889587296526011 -5.0E-6" size="0.01"/>
<geom name="baseTilt_RightRear_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<body name="elbow_RightRear" pos="0.038890872965260115 -0.03889087296526011 0.0" quat="0.9238795325112867 -0.0 -0.0 -0.3826834323650898">
<joint name="elbow_RightRear" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-85.05 85.05" />
<geom name="elbow_RightRear_A" pos="-4.999999999997336E-6 0.047994999999999996 -5.0E-6" size="0.01"/>
<geom name="elbow_RightRear_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
</body>
</body>
</body>
<geom name="Marcos_base_4" pos="-0.07750499999999999 0.046744999999999995 0.119995" size="0.01"/>
<body name="basePan_LeftRear" pos="-0.0775 0.04675 0.12" quat="6.171209208705922E-5 -0.7071684825084507 6.170132223498458E-5 0.7070450690947923">
<joint name="basePan_LeftRear" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-84.10499999999999 31.185" />
<geom name="basePan_LeftRear_A" pos="0.030994999527843004 4.105206537133909E-7 0.004995" size="0.01"/>
<geom name="basePan_LeftRear_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<body name="baseTilt_LeftRear" pos="0.030999999527843002 5.410520653713441E-6 0.005" quat="0.7072918743815211 -0.7069216341423136 -6.16905505034108E-5 6.172286005948052E-5">
<joint name="baseTilt_LeftRear" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-85.05 85.05" />
<geom name="baseTilt_LeftRear_A" pos="0.03888587296526011 -0.03889587296526012 -5.0E-6" size="0.01"/>
<geom name="baseTilt_LeftRear_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<body name="elbow_LeftRear" pos="0.038890872965260115 -0.03889087296526011 0.0" quat="0.9238795289934143 8.062369856820899E-5 -3.339542939563245E-5 -0.3826834309079392">
<joint name="elbow_LeftRear" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-85.05 85.05" />
<geom name="elbow_LeftRear_A" pos="-4.999999999997336E-6 0.047994999999999996 -5.0E-6" size="0.01"/>
<geom name="elbow_LeftRear_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
</body>
</body>
</body>
<geom name="Marcos_base_5" pos="0.084995 -5.0E-6 0.136995" size="0.01"/>
<body name="tilt_Head" pos="0.085 0.0 0.137" quat="0.7071067811865476 -0.7071067811865475 -0.0 -0.0">
<joint name="tilt_Head" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-85.05 85.05" />
<geom name="tilt_Head_A" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<geom name="tilt_Head_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<body name="pan_Head" pos="0.0 0.0 0.0" quat="0.7071067811865476 0.7071067811865475 -0.0 -0.0">
<joint name="pan_Head" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-70.875 63.315" />
<geom name="pan_Head_A" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<geom name="pan_Head_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<body name="tip_Head" pos="0.0 0.0 0.0" quat="1.0 -0.0 -0.0 -0.0">
<joint name="tip_Head" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-70.875 63.315" />
<geom name="tip_Head_A" pos="0.084995 -5.0E-6 -5.0E-6" size="0.01"/>
<geom name="tip_Head_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
</body>
</body>
</body>
<geom name="Marcos_base_6" pos="-0.085005 -5.0E-6 0.136995" size="0.01"/>
<body name="basePan_Tail" pos="-0.085 0.0 0.137" quat="6.170670739598364E-5 -6.170670739598361E-5 -0.7071067784940844 0.7071067784940845">
<joint name="basePan_Tail" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-85.05 85.05" />
<geom name="basePan_Tail_A" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<geom name="basePan_Tail_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<body name="baseTilt_Tail" pos="0.0 0.0 0.0" quat="0.7071067811865476 0.7071067811865475 -0.0 -0.0">
<joint name="baseTilt_Tail" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-85.05 85.05" />
<geom name="baseTilt_Tail_A" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<geom name="baseTilt_Tail_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
<body name="tip_Tail" pos="0.0 0.0 0.0" quat="1.0 -0.0 -0.0 -0.0">
<joint name="tip_Tail" pos="0.0 0.0 0.0" axis="0.0 0.0 1.0" range="-85.05 85.05" />
<geom name="tip_Tail_A" pos="0.14999500000000002 -5.0E-6 0.024995" size="0.01"/>
<geom name="tip_Tail_B" pos="-5.0E-6 -5.0E-6 -5.0E-6" size="0.01"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="elbow_LeftFront" gear="120" joint="elbow_LeftFront"/>
<motor name="baseTilt_RightRear" gear="120" joint="baseTilt_RightRear"/>
<motor name="basePan_RightRear" gear="120" joint="basePan_RightRear"/>
<motor name="tip_Tail" gear="120" joint="tip_Tail"/>
<motor name="basePan_LeftFront" gear="120" joint="basePan_LeftFront"/>
<motor name="elbow_LeftRear" gear="120" joint="elbow_LeftRear"/>
<motor name="elbow_RightFront" gear="120" joint="elbow_RightFront"/>
<motor name="basePan_LeftRear" gear="120" joint="basePan_LeftRear"/>
<motor name="baseTilt_RightFront" gear="120" joint="baseTilt_RightFront"/>
<motor name="elbow_RightRear" gear="120" joint="elbow_RightRear"/>
<motor name="tilt_Head" gear="120" joint="tilt_Head"/>
<motor name="basePan_RightFront" gear="120" joint="basePan_RightFront"/>
<motor name="pan_Head" gear="120" joint="pan_Head"/>
<motor name="baseTilt_Tail" gear="120" joint="baseTilt_Tail"/>
<motor name="tip_Head" gear="120" joint="tip_Head"/>
<motor name="baseTilt_LeftRear" gear="120" joint="baseTilt_LeftRear"/>
<motor name="baseTilt_LeftFront" gear="120" joint="baseTilt_LeftFront"/>
<motor name="basePan_Tail" gear="120" joint="basePan_Tail"/>
</actuator>
</mujoco>