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.
57 lines
3.8 KiB
XML
57 lines
3.8 KiB
XML
<mujoco model="hopper">
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<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
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<default>
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<joint armature="1" damping="1" limited="true"/>
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<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
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<motor ctrllimited="true" ctrlrange="-.4 .4"/>
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</default>
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<option integrator="RK4" timestep="0.002"/>
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<visual>
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<map znear="0.02"/>
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</visual>
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<worldbody>
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<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
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<geom conaffinity="1" condim="3" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 .125" type="plane" material="MatPlane"/>
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<body name="torso" pos="0 0 1.25">
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<camera name="track" mode="trackcom" pos="0 -3 1" xyaxes="1 0 0 0 0 1"/>
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<joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
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<joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
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<joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/>
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<geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
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<body name="thigh" pos="0 0 1.05">
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<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
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<geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
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<body name="leg" pos="0 0 0.35">
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<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
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<geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
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<body name="foot" pos="0.13/2 0 0.1">
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<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
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<geom friction="2.0" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
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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">
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<joint armature="0" axis="1 0 0" damping="0.0" name="tar:x" pos="0 0 1.53" stiffness="0" type="slide" frictionloss="0" limited="false"/>
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<joint armature="0" axis="0 1 0" damping="0.0" name="tar:y" pos="0 0 1.53" stiffness="0" type="slide" frictionloss="0" limited="false"/>
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<joint armature="0" axis="0 0 1" damping="0.0" name="tar:z" pos="0 0 1.53" stiffness="0" type="slide" frictionloss="0" limited="false"/>
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<geom pos="0 0 1.53" priority= "1" size="0.025 0.025 0.025" type="sphere" condim="4" name="ball_geom" rgba="0.8 0.2 0.1 1" mass="0.1"
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friction="0.1 0.1 0.1" solimp="0.9 0.95 0.001 0.5 2" solref="-10000 -10"/>
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<site name="target_ball" pos="0 0 1.53" size="0.04 0.04 0.04" rgba="1 0 0 1" type="sphere"/>
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</body>
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</worldbody>
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<actuator>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
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</actuator>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0"
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width="100" height="100"/>
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<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
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<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
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<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
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<material name="geom" texture="texgeom" texuniform="true"/>
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</asset>
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</mujoco>
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