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anki-3d-engine
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anki-3d-engine
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ThirdParty
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Bullet
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data
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mjcf
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ant.xml

ant.xml 4.1 KB
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  1. <mujoco model="ant">
    2. 

  2.   <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
    3. 

  3.   <option integrator="RK4" timestep="0.01"/>
    4. 

  4.   <custom>
    5. 

  5.     <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
    6. 

  6.   </custom>
    7. 

  7.   <default>
    8. 

  8.     <joint armature="1" damping="1" limited="true"/>
    9. 

  9.     <geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/>
    10. 

  10.   </default>
    11. 

  11.   <worldbody>
    12. 

  12.     <body name="torso" pos="0 0 0.75">
    13. 

  13.       <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
    14. 

  14.       <!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/-->
    15. 

  15.       <body name="front_left_leg" pos="0 0 0">
    16. 

  16.         <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
    17. 

  17.         <body name="aux_1" pos="0.2 0.2 0">
    18. 

  18.           <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
    19. 

  19.           <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
    20. 

  20.           <body pos="0.2 0.2 0" name="front_left_foot">
    21. 

  21.             <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
    22. 

  22.             <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
    23. 

  23.           </body>
    24. 

  24.         </body>
    25. 

  25.       </body>
    26. 

  26.       <body name="front_right_leg" pos="0 0 0">
    27. 

  27.         <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
    28. 

  28.         <body name="aux_2" pos="-0.2 0.2 0">
    29. 

  29.           <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
    30. 

  30.           <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
    31. 

  31.           <body pos="-0.2 0.2 0" name="front_right_foot">
    32. 

  32.             <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
    33. 

  33.             <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
    34. 

  34.           </body>
    35. 

  35.         </body>
    36. 

  36.       </body>
    37. 

  37.       <body name="left_back_leg" pos="0 0 0">
    38. 

  38.         <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
    39. 

  39.         <body name="aux_3" pos="-0.2 -0.2 0">
    40. 

  40.           <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
    41. 

  41.           <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
    42. 

  42.           <body pos="-0.2 -0.2 0" name="left_back_foot">
    43. 

  43.             <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
    44. 

  44.             <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
    45. 

  45.           </body>
    46. 

  46.         </body>
    47. 

  47.       </body>
    48. 

  48.       <body name="right_back_leg" pos="0 0 0">
    49. 

  49.         <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
    50. 

  50.         <body name="aux_4" pos="0.2 -0.2 0">
    51. 

  51.           <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
    52. 

  52.           <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
    53. 

  53.           <body pos="0.2 -0.2 0" name="right_back_foot">
    54. 

  54.             <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
    55. 

  55.             <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
    56. 

  56.           </body>
    57. 

  57.         </body>
    58. 

  58.       </body>
    59. 

  59.     </body>
    60. 

  60.   </worldbody>
    61. 

  61.   <actuator>
    62. 

  62.     <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
    63. 

  63.     <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
    64. 

  64.     <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
    65. 

  65.     <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
    66. 

  66.     <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
    67. 

  67.     <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
    68. 

  68.     <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
    69. 

  69.     <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
    70. 

  70.   </actuator>
    71. 

  71. </mujoco>
    72.