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group_2.xml
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<?xml version='1.0' encoding='utf-8'?>
<mujoco model="nemo3">
<compiler angle="radian" meshdir="assets" autolimits="true" />
<option timestep="0.0035" iterations="8" ls_iterations="4">
<flag eulerdamp="disable" />
</option>
<custom>
<numeric data="2500" name="constraint_limit_stiffness" />
<numeric data="27000" name="constraint_stiffness" />
<numeric data="30" name="constraint_ang_damping" />
<numeric data="80" name="constraint_vel_damping" />
<numeric data="-0.05" name="ang_damping" />
<numeric data="0.5" name="joint_scale_pos" />
<numeric data="0.1" name="joint_scale_ang" />
<numeric data="0" name="spring_mass_scale" />
<numeric data="1" name="spring_inertia_scale" />
<numeric data="20" name="matrix_inv_iterations" />
<numeric data="15" name="solver_maxls" />
</custom>
<visual>
<global ellipsoidinertia="true" />
</visual>
<default>
<geom contype="0" conaffinity="0" condim="3" solref="0.005 1" />
<equality solref="0.005 1" />
<default class="robot">
<site rgba="1 0 0 1" size="0.01" group="5" />
<joint damping="0.5" armature="0.01" frictionloss="0.1" />
<default class="visual">
<geom group="2" type="mesh" contype="0" conaffinity="0" density="0" material="metallic" />
</default>
<default class="collision">
<geom contype="1" group="3" rgba="0.5 0.5 0.5 1" material="metallic" />
</default>
</default>
</default>
<asset>
<material name="metallic" rgba="0.7 0.7 0.7 1" />
<material name="black" rgba="0.2 0.2 0.2 1" />
<material name="transparent" rgba="0 0 0 0" />
<mesh file="pelvis.stl" />
<mesh name="l_hip_pitch" file="l_hip_pitch.stl" />
<mesh name="l_hip_roll" file="l_hip_roll.stl" />
<mesh name="l_hip_yaw" file="l_hip_yaw.stl" />
<mesh name="l_knee" file="l_knee.stl" />
<mesh name="l_foot_pitch" file="l_foot_pitch.stl" />
<mesh name="l_foot_roll" file="l_foot_roll.stl" />
<mesh name="r_hip_pitch" file="l_hip_pitch.stl" scale="1 -1 1" />
<mesh name="r_hip_roll" file="l_hip_roll.stl" scale="1 -1 1" />
<mesh name="r_hip_yaw" file="l_hip_yaw.stl" scale="1 -1 1" />
<mesh name="r_knee" file="l_knee.stl" scale="1 -1 1" />
<mesh name="r_foot_pitch" file="l_foot_pitch.stl" scale="1 -1 1" />
<mesh name="r_foot_roll" file="l_foot_roll.stl" scale="1 -1 1" />
</asset>
<worldbody>
<light name="spotlight" mode="targetbodycom" target="pelvis" pos="0 -6 4" cutoff="30" />
<body name="pelvis" pos="0.0 0.0 0.8073" childclass="robot">
<inertial pos="0.0 0.0 0.783" mass="10.93335" fullinertia="0.057222661815 0.057222661815 0.057222661815 0.0 0.0 0.0" />
<freejoint name="floating_base" />
<geom type="mesh" class="visual" mesh="pelvis" />
<body name="l_hip_pitch" pos="0.0 0.0522 -0.07">
<inertial pos="0.0 -0.01595 0.0" mass="1.60736" fullinertia="4.089164024e-05 4.089164024e-05 4.089164024e-05 -0.0 0.0 -0.0" />
<joint name="l_hip_pitch" axis="0 1 0" range="-3 3" />
<geom type="mesh" class="visual" mesh="l_hip_pitch" />
<body name="l_hip_roll" pos="0.0 0.09 0.0">
<inertial pos="0.0 -0.0 -0.02771" mass="2.47257" fullinertia="0.0001898548286337 0.0001898548286337 0.0001898548286337 -0.0 0.0 -0.0" />
<joint name="l_hip_roll" axis="1 0 0" range="-0.279253 1.0472" />
<geom type="mesh" class="visual" mesh="l_hip_roll" />
<body name="l_hip_yaw" pos="0.0 0.0 -0.1173">
<inertial pos="0.0 -0.00786 -0.12008" mass="5.19381" fullinertia="0.007521148989666001 0.007521148989666001 0.007521148989666001 -0.0 0.0 -0.0" />
<joint name="l_hip_yaw" axis="0 0 1" range="-2.5 2.5" />
<geom type="mesh" class="visual" mesh="l_hip_yaw" />
<body name="l_knee" pos="0.0 0.0 -0.25">
<inertial pos="0.0 -0.0 -0.15491" mass="4.49524" fullinertia="0.0107872760215444 0.0107872760215444 0.0107872760215444 -0.0 0.0 -0.0" />
<joint name="l_knee" axis="0 1 0" range="-0.3 2" />
<geom type="mesh" class="visual" mesh="l_knee" />
<body name="l_foot_pitch" pos="0.0 0.0125 -0.315">
<inertial pos="0.0 -0.0125 0.0" mass="0.07176" fullinertia="1.1212500000000003e-06 1.1212500000000003e-06 1.1212500000000003e-06 -0.0 0.0 -0.0" />
<joint name="l_foot_pitch" axis="0 1 0" range="-0.5 0.5" />
<geom type="mesh" class="visual" mesh="l_foot_pitch" />
<body name="l_foot_roll" pos="0.025 -0.0125 0.0">
<inertial pos="0.01359 -0.0 0.03878" mass="2.01496" fullinertia="0.000340241410444 0.000340241410444 0.000340241410444 -0.0 0.0 -0.0" />
<joint name="l_foot_roll" axis="1 0 0" range="-1 1" />
<geom type="mesh" class="visual" mesh="l_foot_roll" />
<geom class="collision" name="left_foot" pos="0.04 0 -0.04" size="0.10 0.06 0.015" type="box" />
<site name="left_foot_p1" pos="0.05 0.0 -0.0762" />
<site name="left_foot_p2" pos="-0.05 0.0 -0.0762" />
<site name="left_foot_p3" pos="0.0 0.05 -0.0762" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="r_hip_pitch" pos="0.0 -0.0522 -0.07">
<inertial pos="0.0 -0.01595 0.0" mass="1.60736" fullinertia="4.089164024e-05 4.089164024e-05 4.089164024e-05 -0.0 0.0 -0.0" />
<joint name="r_hip_pitch" axis="0 1 0" range="-3 3" />
<geom type="mesh" class="visual" mesh="r_hip_pitch" />
<body name="r_hip_roll" pos="0.0 -0.09 0.0">
<inertial pos="0.0 -0.0 -0.02771" mass="2.47257" fullinertia="0.0001898548286337 0.0001898548286337 0.0001898548286337 -0.0 0.0 -0.0" />
<joint name="r_hip_roll" axis="1 0 0" range="-1.0472 0.279253" />
<geom type="mesh" class="visual" mesh="r_hip_roll" />
<body name="r_hip_yaw" pos="0.0 -0.0 -0.1173">
<inertial pos="0.0 -0.00786 -0.12008" mass="5.19381" fullinertia="0.007521148989666001 0.007521148989666001 0.007521148989666001 -0.0 0.0 -0.0" />
<joint name="r_hip_yaw" axis="0 0 1" range="-2.5 2.5" />
<geom type="mesh" class="visual" mesh="r_hip_yaw" />
<body name="r_knee" pos="0.0 -0.0 -0.25">
<inertial pos="0.0 -0.0 -0.15491" mass="4.49524" fullinertia="0.0107872760215444 0.0107872760215444 0.0107872760215444 -0.0 0.0 -0.0" />
<joint name="r_knee" axis="0 1 0" range="-0.3 2" />
<geom type="mesh" class="visual" mesh="l_knee" />
<body name="r_foot_pitch" pos="0.0 -0.0125 -0.315">
<inertial pos="0.0 -0.0125 0.0" mass="0.07176" fullinertia="1.1212500000000003e-06 1.1212500000000003e-06 1.1212500000000003e-06 -0.0 0.0 -0.0" />
<joint name="r_foot_pitch" axis="0 1 0" range="-0.5 0.5" />
<geom type="mesh" class="visual" mesh="l_foot_pitch" />
<body name="r_foot_roll" pos="0.025 0.0125 0.0">
<inertial pos="0.01359 -0.0 0.03878" mass="2.01496" fullinertia="0.000340241410444 0.000340241410444 0.000340241410444 -0.0 0.0 -0.0" />
<joint name="r_foot_roll" axis="1 0 0" range="-1 1" />
<geom type="mesh" class="visual" mesh="l_foot_roll" />
<geom class="collision" name="right_foot" pos="0.04 0 -0.04" size="0.10 0.06 0.015" type="box" />
<site name="right_foot_p1" pos="0.05 0.0 -0.0762" />
<site name="right_foot_p2" pos="-0.05 0.0 -0.0762" />
<site name="right_foot_p3" pos="0.0 -0.05 -0.0762" />
</body>
</body>
</body>
</body>
</body>
</body>
<site name="pelvis_back" pos="-0.05 0.0 0.0" />
<site name="pelvis_front" pos="0.05 0.0 0.0" />
<site name="head" pos="0.0 0.0 0.5" />
<light name="tracking" mode="trackcom" pos="0 0 2" />
</body>
</worldbody>
<actuator>
<position kp="60.0" class="robot" name="l_hip_pitch" joint="l_hip_pitch" forcerange="-11.85 11.85" inheritrange="1" />
<position kp="30.0" class="robot" name="l_hip_roll" joint="l_hip_roll" forcerange="-23.7 23.7" inheritrange="1" />
<position kp="30.0" class="robot" name="l_hip_yaw" joint="l_hip_yaw" forcerange="-11.85 11.85" inheritrange="1" />
<position kp="60.0" class="robot" name="l_knee" joint="l_knee" forcerange="-23.7 23.7" inheritrange="1" />
<position kp="40.0" class="robot" name="l_foot_pitch" joint="l_foot_pitch" forcerange="-23.7 23.7" inheritrange="1" />
<position kp="20.0" class="robot" name="l_foot_roll" joint="l_foot_roll" forcerange="-23.7 23.7" inheritrange="1" />
<position kp="60.0" class="robot" name="r_hip_pitch" joint="r_hip_pitch" forcerange="-11.85 11.85" inheritrange="1" />
<position kp="30.0" class="robot" name="r_hip_roll" joint="r_hip_roll" forcerange="-23.7 23.7" inheritrange="1" />
<position kp="60.0" class="robot" name="r_hip_yaw" joint="r_hip_yaw" forcerange="-11.85 11.85" inheritrange="1" />
<position kp="60.0" class="robot" name="r_knee" joint="r_knee" forcerange="-23.7 23.7" inheritrange="1" />
<position kp="40.0" class="robot" name="r_foot_pitch" joint="r_foot_pitch" forcerange="-23.7 23.7" inheritrange="1" />
<position kp="20.0" class="robot" name="r_foot_roll" joint="r_foot_roll" forcerange="-23.7 23.7" inheritrange="1" />
<velocity kv="60.0" class="robot" name="l_hip_pitch_v" joint="l_hip_pitch" forcerange="-11.85 11.85" ctrlrange="-20 20" />
<velocity kv="30.0" class="robot" name="l_hip_roll_v" joint="l_hip_roll" forcerange="-23.7 23.7" ctrlrange="-20 20" />
<velocity kv="30.0" class="robot" name="l_hip_yaw_v" joint="l_hip_yaw" forcerange="-11.85 11.85" ctrlrange="-20 20" />
<velocity kv="60.0" class="robot" name="l_knee_v" joint="l_knee" forcerange="-23.7 23.7" ctrlrange="-20 20" />
<velocity kv="30.0" class="robot" name="l_foot_pitch_v" joint="l_foot_pitch" forcerange="-23.7 23.7" ctrlrange="-20 20" />
<velocity kv="15.0" class="robot" name="l_foot_roll_v" joint="l_foot_roll" forcerange="-23.7 23.7" ctrlrange="-20 20" />
<velocity kv="60.0" class="robot" name="r_hip_pitch_v" joint="r_hip_pitch" forcerange="-11.85 11.85" ctrlrange="-20 20" />
<velocity kv="30.0" class="robot" name="r_hip_roll_v" joint="r_hip_roll" forcerange="-23.7 23.7" ctrlrange="-20 20" />
<velocity kv="30.0" class="robot" name="r_hip_yaw_v" joint="r_hip_yaw" forcerange="-11.85 11.85" ctrlrange="-20 20" />
<velocity kv="60.0" class="robot" name="r_knee_v" joint="r_knee" forcerange="-23.7 23.7" ctrlrange="-20 20" />
<velocity kv="30.0" class="robot" name="r_foot_pitch_v" joint="r_foot_pitch" forcerange="-23.7 23.7" ctrlrange="-20 20" />
<velocity kv="15.0" class="robot" name="r_foot_roll_v" joint="r_foot_roll" forcerange="-23.7 23.7" ctrlrange="-20 20" />
</actuator>
<keyframe>
<key name="stand" qpos=" 0 0 0.5619 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 " />
</keyframe>
</mujoco>