69 lines
4.8 KiB
XML
69 lines
4.8 KiB
XML
<!--
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Walker2D model for `Walker2d-v5`, based on openai/gym/Walker2d
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modified by @kallinteris-Andreas
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- To not require `coordinate="global"`
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- keep feet friction to 0.9/1.9
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-->
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<mujoco model="walker2d">
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<compiler angle="degree" inertiafromgeom="true"/>
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<default>
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<joint armature="0.01" damping=".1" limited="true"/>
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<geom conaffinity="0" condim="3" contype="1" density="1000" friction=".7 .1 .1" rgba="0.8 0.6 .4 1"/>
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</default>
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<option integrator="RK4" timestep="0.002"/>
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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="40 40 40" 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 -0.25" 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 -1.25" stiffness="0" type="slide"/>
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<joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 -1.25" 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 0" stiffness="0" type="hinge"/>
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<geom friction="0.9" name="torso_geom" size="0.050000000000000003 0.19999999999999996" type="capsule"/>
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<body name="thigh" pos="0 0 -0.19999999999999996">
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<joint axis="0 -1 0" name="thigh_joint" pos="0 0 0" range="-150 0" type="hinge"/>
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<geom friction="0.9" pos="0 0 -0.22500000000000009" name="thigh_geom" size="0.050000000000000003 0.22500000000000003" type="capsule"/>
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<body name="leg" pos="0 0 -0.70000000000000007">
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<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.25" range="-150 0" type="hinge"/>
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<geom friction="0.9" name="leg_geom" size="0.040000000000000001 0.25" type="capsule"/>
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<body name="foot" pos="0.20000000000000001 0 -0.34999999999999998">
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<joint axis="0 -1 0" name="foot_joint" pos="-0.20000000000000001 0 0.10000000000000001" range="-45 45" type="hinge"/>
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<geom friction="0.9" pos="-0.10000000000000001 0 0.10000000000000001" quat="0.70710678118654757 0 -0.70710678118654746 0" name="foot_geom" size="0.059999999999999998 0.10000000000000001" type="capsule"/>
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</body>
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</body>
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</body>
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<!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right -->
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<body name="thigh_left" pos="0 0 -0.19999999999999996">
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<joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 0" range="-150 0" type="hinge"/>
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<geom friction="0.9" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.050000000000000003 0.22500000000000003" pos="0 0 -0.22500000000000009" type="capsule"/>
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<body name="leg_left" pos="0 0 -0.70000000000000007">
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<joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.25" range="-150 0" type="hinge"/>
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<geom friction="0.9" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.040000000000000001 0.25" type="capsule"/>
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<body name="foot_left" pos="0.20000000000000001 0 -0.34999999999999998">
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<joint axis="0 -1 0" name="foot_left_joint" pos="-0.20000000000000001 0 0.10000000000000001" range="-45 45" type="hinge"/>
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<geom friction="1.9" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.059999999999999998 0.10000000000000001" pos="-0.10000000000000001 0 0.10000000000000001" type="capsule" quat="0.70710678118654757 0 -0.70710678118654746 0"/>
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</body>
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</body>
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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 joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>-->
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/>
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<!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/>-->
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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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