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Onur
2022-05-29 11:58:01 +02:00
parent 647f086a8d
commit f1a96c055b
12 changed files with 333 additions and 168 deletions
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alr_envs/alr/mujoco/hopper_jump/assets/hopper.xml → alr_envs/alr/mujoco/hopper_jump/assets/hopper_jump.xml
+4
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@@ -25,12 +25,16 @@
<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">
<site name="foot_site" pos="0 0 0.04" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
<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"/>
</body>
</body>
</body>
</body>
<body name="goal_site_body" pos = "0 0 0">
<site name="goal_site" pos="0 0 0.0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>