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.
132 lines
8.0 KiB
XML
132 lines
8.0 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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<body name="basket_ground" pos="5 0 0">
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<geom friction="0.9" fromto="5 0 0 5.3 0 0" name="basket_ground_geom" size="0.1 0.4 0.3" type="box"/>
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<body name="edge1" pos="5 0 0">
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<geom friction="2.0" fromto="5 0 0 5 0 0.2" name="edge1_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge2" pos="5 0 0.05">
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<geom friction="2.0" fromto="5 0.05 0 5 0.05 0.2" name="edge2_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge3" pos="5 0 0.1">
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<geom friction="2.0" fromto="5 0.1 0 5 0.1 0.2" name="edge3_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge4" pos="5 0 0.15">
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<geom friction="2.0" fromto="5 0.15 0 5 0.15 0.2" name="edge4_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge5" pos="5.05 0 0.15">
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<geom friction="2.0" fromto="5.05 0.15 0 5.05 0.15 0.2" name="edge5_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge6" pos="5.1 0 0.15">
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<geom friction="2.0" fromto="5.1 0.15 0 5.1 0.15 0.2" name="edge6_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge7" pos="5.15 0 0.15">
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<geom friction="2.0" fromto="5.15 0.15 0 5.15 0.15 0.2" name="edge7_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge8" pos="5.2 0 0.15">
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<geom friction="2.0" fromto="5.2 0.15 0 5.2 0.15 0.2" name="edge8_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge9" pos="5.25 0 0.15">
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<geom friction="2.0" fromto="5.25 0.15 0 5.25 0.15 0.2" name="edge9_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge10" pos="5.3 0 0.15">
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<geom friction="2.0" fromto="5.3 0.15 0 5.3 0.15 0.2" name="edge10_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge11" pos="5.3 0 0.1">
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<geom friction="2.0" fromto="5.3 0.1 0 5.3 0.1 0.2" name="edge11_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge12" pos="5.3 0 0.05">
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<geom friction="2.0" fromto="5.3 0.05 0 5.3 0.05 0.2" name="edge12_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge13" pos="5.3 0 0.0">
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<geom friction="2.0" fromto="5.3 0 0 5.3 0 0.2" name="edge13_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge14" pos="5.3 0 -0.05">
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<geom friction="2.0" fromto="5.3 -0.05 0 5.3 -0.05 0.2" name="edge14_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge15" pos="5.3 0 -0.1">
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<geom friction="2.0" fromto="5.3 -0.1 0 5.3 -0.1 0.2" name="edge15_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge16" pos="5.3 0 -0.15">
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<geom friction="2.0" fromto="5.3 -0.15 0 5.3 -0.15 0.2" name="edge16_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge20" pos="5.25 0 -0.15">
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<geom friction="2.0" fromto="5.25 -0.15 0 5.25 -0.15 0.2" name="edge20_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge21" pos="5.2 0 -0.15">
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<geom friction="2.0" fromto="5.2 -0.15 0 5.2 -0.15 0.2" name="edge21_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge22" pos="5.15 0 -0.15">
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<geom friction="2.0" fromto="5.15 -0.15 0 5.15 -0.15 0.2" name="edge22_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge23" pos="5.1 0 -0.15">
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<geom friction="2.0" fromto="5.1 -0.15 0 5.1 -0.15 0.2" name="edge23_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge24" pos="5.05 0 -0.15">
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<geom friction="2.0" fromto="5.05 -0.15 0 5.05 -0.15 0.2" name="edge24_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge25" pos="5 0 -0.15">
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<geom friction="2.0" fromto="5 -0.15 0 5 -0.15 0.2" name="edge25_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge26" pos="5 0 -0.1">
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<geom friction="2.0" fromto="5 -0.1 0 5 -0.1 0.2" name="edge26_geom" size="0.04" type="capsule"/>
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</body>
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<body name="edge27" pos="5 0 -0.05">
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<geom friction="2.0" fromto="5 -0.05 0 5 -0.05 0.2" name="edge27_geom" size="0.04" type="capsule"/>
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</body>
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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> |