-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathflyer.xml
89 lines (82 loc) · 5.55 KB
/
flyer.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
<mujoco model='flyer'>
<compiler inertiafromgeom='true' angle='degree'/>
<default>
<joint limited='true' damping='0' armature='0' />
<geom contype='1' conaffinity='1' condim='1' rgba='0.8 0.6 .4 1'
margin="0.001" solref=".02 1" solimp=".8 .8 .01" material="geom"/>
<motor ctrlrange='-.4 .4' ctrllimited='true'/>
</default>
<option timestep='0.002' iterations="50" solver="PGS">
<flag energy="enable"/>
</option>
<visual>
<map fogstart="3" fogend="5" force="0.1"/>
<quality shadowsize="2048"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" width="100" height="100" rgb1=".4 .6 .8"
rgb2="0 0 0"/>
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
width="100" height="100"/>
<material name='MatPlane' reflectance='0.5' texture="texplane" texrepeat="1 1" texuniform="true"/>
<material name='geom' texture="texgeom" texuniform="true"/>
<material name='nose' rbga='1 0 0 1' />
</asset>
<worldbody>
<body name='torso' pos='0 0 1.248'>
<geom name='torso' type='box' size='0.0768 0.192 0.288'/>
<geom name='head' type='sphere' pos='0 0 0.432' size='0.12' />
<geom name='nose' type='sphere' pos='0.1344 0 0.432' size='0.0288' material='nose' />
<body name='l_thigh' pos='0 0.096 -0.288'>
<geom name='l_thigh_1' type='capsule' fromto='0 0 -0.08448 0 0 -0.29952' size='0.08448' />
<geom name='l_thigh_2' type='capsule' fromto='0 0 -0.384 0 0 -0.48' size='0.04224' />
<joint name='l_hip_y' type='hinge' pos='0 0 0' axis='0 -1 0' range='-45 130' armature='0.0080' />
<joint name='l_hip_x' type='hinge' pos='0 0 0' axis='1 0 0' range='-25 75' armature='0.01' />
<!-- <joint name='l_hip_z' type='hinge' pos='0 0 0' axis='0 0 1' range='-60 130' armature='0.0080' /> -->
<body name='l_lower_leg' pos='0 0.0 -0.48'>
<geom name='l_lower_leg_thick' type='capsule' fromto='0 0 -0.158976 0 0 -0.417024' size='0.062976' />
<geom name='l_lower_leg_thin' type='capsule' fromto='0 0 -0.031488 0 0 -0.158976' size='0.031488' />
<joint name='l_knee' type='hinge' pos='0 0 0' axis='0 1 0' range='0 160' armature='0.01' />
</body>
</body>
<body name='r_thigh' pos='0 -0.096 -0.288'>
<geom name='r_thigh_1' type='capsule' fromto='0 0 -0.08448 0 0 -0.29952' size='0.08448' />
<geom name='r_thigh_2' type='capsule' fromto='0 0 -0.384 0 0 -0.48' size='0.04224' />
<joint name='r_hip_y' type='hinge' pos='0 0 0' axis='0 -1 0' range='-45 130' armature='0.0080' />
<joint name='r_hip_x' type='hinge' pos='0 0 0' axis='-1 0 0' range='-25 75' armature='0.01' />
<!-- <joint name='r_hip_z' type='hinge' pos='0 0 0' axis='0 0 -1' range='-60 130' armature='0.0080' /> -->
<body name='r_lower_leg' pos='0 0.0 -0.48'>
<geom name='l_lower_leg_thick' type='capsule' fromto='0 0 -0.158976 0 0 -0.417024' size='0.062976' />
<geom name='l_lower_leg_thin' type='capsule' fromto='0 0 -0.031488 0 0 -0.158976' size='0.031488' />
<joint name='r_knee' type='hinge' pos='0 0 0' axis='0 1 0' range='0 160' armature='0.01' />
</body>
</body>
<body name='l_upper_arm' pos='0.0 0.24288 0.23712'>
<geom name='l_upper_arm' type='capsule' fromto='0.05088 0 0 0.30912 0 0' size='0.05088' />
<joint name='l_shoulder1' type='hinge' pos='0 0 0' axis='0 -1 0' range='-120 105' armature='0.0068' />
<joint name='l_shoulder2' type='hinge' pos='0 0 0' axis='0 0 1' range='-65 95' armature='0.0051' />
<body name='l_lower_arm' pos='0.36 0.0 0.0'>
<geom name='l_lower_arm' type='capsule' fromto='0.04608 0 0 0.21792 0 0' size='0.04608' />
<joint name='l_elbow' type='hinge' pos='0 0 0' axis='0 -1 0' range='0 160' armature='0.0068' />
<body name='l_hand' pos='0.264 0 0' >
<geom name='l_hand' type='sphere' pos='0.048 0 0' size='0.048' />
</body>
</body>
</body>
<body name='r_upper_arm' pos='0.0 -0.24288 0.23712'>
<geom name='r_upper_arm' type='capsule' fromto='0.05088 0 0 0.30912 0 0' size='0.05088' />
<joint name='r_shoulder1' type='hinge' pos='0 0 0' axis='0 -1 0' range='-120 105' armature='0.0068' />
<joint name='r_shoulder2' type='hinge' pos='0 0 0' axis='0 0 -1' range='-65 95' armature='0.0051' />
<body name='r_lower_arm' pos='0.36 0.0 0.0'>
<geom name='r_lower_arm' type='capsule' fromto='0.04608 0 0 0.21792 0 0' size='0.04608' />
<joint name='r_elbow' type='hinge' pos='0 0 0' axis='0 -1 0' range='0 160' armature='0.0068' />
<body name='r_hand' pos='0.264 0 0' >
<geom name='r_hand' type='sphere' pos='0.048 0 0' size='0.048' />
</body>
</body>
</body>
</body>
</worldbody>
</mujoco>