Dominik Roth
c06fbee728
New versions of mujoco no longer allow global coordinates. We therefore convert them to local ones. The original files are kept as reference.
130 lines
8.2 KiB
XML
130 lines
8.2 KiB
XML
<mujoco model="hopper">
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<compiler angle="radian" autolimits="true"/>
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<option integrator="RK4"/>
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<visual>
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<map znear="0.02"/>
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</visual>
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<default class="main">
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<joint limited="true" armature="1" damping="1"/>
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<geom condim="1" solimp="0.8 0.8 0.01 0.5 2" margin="0.001" material="geom" rgba="0.8 0.6 0.4 1"/>
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<general ctrllimited="true" ctrlrange="-0.4 0.4"/>
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</default>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.4 0.5 0.6" rgb2="0 0 0" width="100" height="600"/>
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<texture type="cube" name="texgeom" builtin="flat" mark="cross" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" width="127" height="762"/>
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<texture type="2d" name="texplane" builtin="checker" rgb1="0 0 0" rgb2="0.8 0.8 0.8" width="100" height="100"/>
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<material name="MatPlane" texture="texplane" texrepeat="60 60" specular="1" shininess="1" reflectance="0.5"/>
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<material name="geom" texture="texgeom" texuniform="true"/>
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</asset>
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<worldbody>
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<geom name="floor" size="20 20 0.125" type="plane" condim="3" material="MatPlane" rgba="0.8 0.9 0.8 1"/>
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<light pos="0 0 1.3" dir="0 0 -1" directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular="0.1 0.1 0.1"/>
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<body name="torso" pos="0 0 1.25" gravcomp="0">
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<joint name="rootx" pos="0 0 -1.25" axis="1 0 0" limited="false" type="slide" armature="0" damping="0"/>
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<joint name="rootz" pos="0 0 -1.25" axis="0 0 1" limited="false" type="slide" ref="1.25" armature="0" damping="0"/>
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<joint name="rooty" pos="0 0 0" axis="0 1 0" limited="false" armature="0" damping="0"/>
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<geom name="torso_geom" size="0.05 0.2" type="capsule" friction="0.9 0.005 0.0001"/>
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<camera name="track" pos="0 -3 -0.25" quat="0.707107 0.707107 0 0" mode="trackcom"/>
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<body name="thigh" pos="0 0 -0.2" gravcomp="0">
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<joint name="thigh_joint" pos="0 0 0" axis="0 -1 0" range="-2.61799 0"/>
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<geom name="thigh_geom" size="0.05 0.225" pos="0 0 -0.225" type="capsule" friction="0.9 0.005 0.0001"/>
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<body name="leg" pos="0 0 -0.7" gravcomp="0">
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<joint name="leg_joint" pos="0 0 0.25" axis="0 -1 0" range="-2.61799 0"/>
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<geom name="leg_geom" size="0.04 0.25" type="capsule" friction="0.9 0.005 0.0001"/>
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<body name="foot" pos="0.065 0 -0.25" gravcomp="0">
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<joint name="foot_joint" pos="-0.065 0 0" axis="0 -1 0" range="-0.785398 0.785398"/>
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<geom name="foot_geom" size="0.06 0.195" quat="0.707107 0 -0.707107 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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</body>
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</body>
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</body>
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<body name="ball" pos="0 0 1.53" gravcomp="0">
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<joint name="tar:x" pos="0 0 0" axis="1 0 0" limited="false" type="slide" armature="0" damping="0"/>
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<joint name="tar:y" pos="0 0 0" axis="0 1 0" limited="false" type="slide" armature="0" damping="0"/>
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<joint name="tar:z" pos="0 0 0" axis="0 0 1" limited="false" type="slide" armature="0" damping="0"/>
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<geom name="ball_geom" size="0.025" condim="4" priority="1" friction="0.1 0.1 0.1" solref="-10000 -10" solimp="0.9 0.95 0.001 0.5 2" mass="0.1" rgba="0.8 0.2 0.1 1"/>
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<site name="target_ball" pos="0 0 0" size="0.04" rgba="1 0 0 1"/>
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</body>
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<body name="basket_ground" pos="5 0 0" gravcomp="0">
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<geom name="basket_ground_geom" size="0.1 0.1 0.15" pos="0.15 0 0" quat="0.707107 0 -0.707107 0" type="box" friction="0.9 0.005 0.0001"/>
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<body name="edge1" pos="0 0 0" gravcomp="0">
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<geom name="edge1_geom" size="0.04 0.1" pos="0 0 0.1" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge2" pos="0 0 0.05" gravcomp="0">
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<geom name="edge2_geom" size="0.04 0.1" pos="0 0.05 0.05" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge3" pos="0 0 0.1" gravcomp="0">
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<geom name="edge3_geom" size="0.04 0.1" pos="0 0.1 0" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge4" pos="0 0 0.15" gravcomp="0">
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<geom name="edge4_geom" size="0.04 0.1" pos="0 0.15 -0.05" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge5" pos="0.05 0 0.15" gravcomp="0">
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<geom name="edge5_geom" size="0.04 0.1" pos="0 0.15 -0.05" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge6" pos="0.1 0 0.15" gravcomp="0">
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<geom name="edge6_geom" size="0.04 0.1" pos="0 0.15 -0.05" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge7" pos="0.15 0 0.15" gravcomp="0">
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<geom name="edge7_geom" size="0.04 0.1" pos="0 0.15 -0.05" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge8" pos="0.2 0 0.15" gravcomp="0">
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<geom name="edge8_geom" size="0.04 0.1" pos="0 0.15 -0.05" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge9" pos="0.25 0 0.15" gravcomp="0">
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<geom name="edge9_geom" size="0.04 0.1" pos="0 0.15 -0.05" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge10" pos="0.3 0 0.15" gravcomp="0">
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<geom name="edge10_geom" size="0.04 0.1" pos="0 0.15 -0.05" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge11" pos="0.3 0 0.1" gravcomp="0">
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<geom name="edge11_geom" size="0.04 0.1" pos="0 0.1 0" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge12" pos="0.3 0 0.05" gravcomp="0">
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<geom name="edge12_geom" size="0.04 0.1" pos="0 0.05 0.05" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge13" pos="0.3 0 0" gravcomp="0">
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<geom name="edge13_geom" size="0.04 0.1" pos="0 0 0.1" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge14" pos="0.3 0 -0.05" gravcomp="0">
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<geom name="edge14_geom" size="0.04 0.1" pos="0 -0.05 0.15" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge15" pos="0.3 0 -0.1" gravcomp="0">
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<geom name="edge15_geom" size="0.04 0.1" pos="0 -0.1 0.2" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge16" pos="0.3 0 -0.15" gravcomp="0">
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<geom name="edge16_geom" size="0.04 0.1" pos="0 -0.15 0.25" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge20" pos="0.25 0 -0.15" gravcomp="0">
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<geom name="edge20_geom" size="0.04 0.1" pos="0 -0.15 0.25" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge21" pos="0.2 0 -0.15" gravcomp="0">
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<geom name="edge21_geom" size="0.04 0.1" pos="0 -0.15 0.25" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge22" pos="0.15 0 -0.15" gravcomp="0">
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<geom name="edge22_geom" size="0.04 0.1" pos="0 -0.15 0.25" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge23" pos="0.1 0 -0.15" gravcomp="0">
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<geom name="edge23_geom" size="0.04 0.1" pos="0 -0.15 0.25" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge24" pos="0.05 0 -0.15" gravcomp="0">
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<geom name="edge24_geom" size="0.04 0.1" pos="0 -0.15 0.25" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge25" pos="0 0 -0.15" gravcomp="0">
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<geom name="edge25_geom" size="0.04 0.1" pos="0 -0.15 0.25" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge26" pos="0 0 -0.1" gravcomp="0">
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<geom name="edge26_geom" size="0.04 0.1" pos="0 -0.1 0.2" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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<body name="edge27" pos="0 0 -0.05" gravcomp="0">
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<geom name="edge27_geom" size="0.04 0.1" pos="0 -0.05 0.15" quat="0 1 0 0" type="capsule" friction="2 0.005 0.0001"/>
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</body>
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</body>
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</worldbody>
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<actuator>
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<general joint="thigh_joint" ctrlrange="-1 1" gear="200 0 0 0 0 0" actdim="0"/>
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<general joint="leg_joint" ctrlrange="-1 1" gear="200 0 0 0 0 0" actdim="0"/>
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<general joint="foot_joint" ctrlrange="-1 1" gear="200 0 0 0 0 0" actdim="0"/>
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</actuator>
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</mujoco>
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