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- <!-- Cheetah Model
- The state space is populated with joints in the order that they are
- defined in this file. The actuators also operate on joints.
- State-Space (name/joint/parameter):
- - rootx slider position (m)
- - rootz slider position (m)
- - rooty hinge angle (rad)
- - bthigh hinge angle (rad)
- - bshin hinge angle (rad)
- - bfoot hinge angle (rad)
- - fthigh hinge angle (rad)
- - fshin hinge angle (rad)
- - ffoot hinge angle (rad)
- - rootx slider velocity (m/s)
- - rootz slider velocity (m/s)
- - rooty hinge angular velocity (rad/s)
- - bthigh hinge angular velocity (rad/s)
- - bshin hinge angular velocity (rad/s)
- - bfoot hinge angular velocity (rad/s)
- - fthigh hinge angular velocity (rad/s)
- - fshin hinge angular velocity (rad/s)
- - ffoot hinge angular velocity (rad/s)
- Actuators (name/actuator/parameter):
- - bthigh hinge torque (N m)
- - bshin hinge torque (N m)
- - bfoot hinge torque (N m)
- - fthigh hinge torque (N m)
- - fshin hinge torque (N m)
- - ffoot hinge torque (N m)
- -->
- <mujoco model="cheetah">
- <compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/>
- <default>
- <joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
- <geom conaffinity="0" condim="3" contype="1" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
- <motor ctrllimited="true" ctrlrange="-1 1"/>
- </default>
- <size nstack="300000" nuser_geom="1"/>
- <option gravity="0 0 -9.81" timestep="0.01"/>
- <worldbody>
- <body name="torso" pos="0 0 .7">
- <joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
- <joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" stiffness="0" type="slide"/>
- <joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
- <geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/>
- <geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
- <!-- <site name='tip' pos='.15 0 .11'/>-->
- <body name="bthigh" pos="-.5 0 0">
- <joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
- <geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
- <body name="bshin" pos=".16 0 -.25">
- <joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
- <geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
- <body name="bfoot" pos="-.28 0 -.14">
- <joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
- <geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
- <inertial mass="10"/>
- </body>
- </body>
- </body>
- <body name="fthigh" pos=".5 0 0">
- <joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1.5 0.8" stiffness="180" type="hinge"/>
- <geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
- <body name="fshin" pos="-.14 0 -.24">
- <joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 1.1" stiffness="120" type="hinge"/>
- <geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
- <body name="ffoot" pos=".13 0 -.18">
- <joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-3.1 -0.3" stiffness="60" type="hinge"/>
- <geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
- <inertial mass="10"/>
- </body>
- </body>
- </body>
- </body>
- </worldbody>
- <actuator>
- <motor gear="120" joint="bthigh" name="bthigh"/>
- <motor gear="90" joint="bshin" name="bshin"/>
- <motor gear="60" joint="bfoot" name="bfoot"/>
- <motor gear="120" joint="fthigh" name="fthigh"/>
- <motor gear="60" joint="fshin" name="fshin"/>
- <motor gear="30" joint="ffoot" name="ffoot"/>
- </actuator>
- </mujoco>
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