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.
55 lines
3.4 KiB
XML
55 lines
3.4 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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</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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