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flyer.xml.template
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flyer.xml.template
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<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 T_THIGH_LEN+T_CALF_LEN+T_TORSO_HALF_HEIGHT'>
<geom name='torso' type='box' size='T_TORSO_HALF_DEPTH T_TORSO_HALF_WIDTH T_TORSO_HALF_HEIGHT'/>
<geom name='head' type='sphere' pos='0 0 T_TORSO_HALF_HEIGHT+T_HEAD_RAD+T_NECK_LEN' size='T_HEAD_RAD' />
<geom name='nose' type='sphere' pos='T_HEAD_RAD+0.5*T_NOSE_RAD 0 T_TORSO_HALF_HEIGHT+T_HEAD_RAD+T_NECK_LEN' size='T_NOSE_RAD' material='nose' />
<body name='l_thigh' pos='0 0.5*T_TORSO_HALF_WIDTH -T_TORSO_HALF_HEIGHT'>
<geom name='l_thigh_1' type='capsule' fromto='0 0 -T_THIGH_RAD 0 0 -(0.8*T_THIGH_LEN-T_THIGH_RAD)' size='T_THIGH_RAD' />
<geom name='l_thigh_2' type='capsule' fromto='0 0 -0.8*T_THIGH_LEN 0 0 -(T_THIGH_LEN-0.*T_THIGH_RAD)' size='0.5*T_THIGH_RAD' />
<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 -T_THIGH_LEN'>
<geom name='l_lower_leg_thick' type='capsule' fromto='0 0 -(0.2*T_CALF_LEN+T_CALF_RAD) 0 0 -(T_CALF_LEN-T_CALF_RAD)' size='T_CALF_RAD' />
<geom name='l_lower_leg_thin' type='capsule' fromto='0 0 -0.5*T_CALF_RAD 0 0 -(0.2*T_CALF_LEN+T_CALF_RAD)' size='0.5*T_CALF_RAD' />
<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 -0.5*T_TORSO_HALF_WIDTH -T_TORSO_HALF_HEIGHT'>
<geom name='r_thigh_1' type='capsule' fromto='0 0 -T_THIGH_RAD 0 0 -(0.8*T_THIGH_LEN-T_THIGH_RAD)' size='T_THIGH_RAD' />
<geom name='r_thigh_2' type='capsule' fromto='0 0 -0.8*T_THIGH_LEN 0 0 -(T_THIGH_LEN-0.*T_THIGH_RAD)' size='0.5*T_THIGH_RAD' />
<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 -T_THIGH_LEN'>
<geom name='l_lower_leg_thick' type='capsule' fromto='0 0 -(0.2*T_CALF_LEN+T_CALF_RAD) 0 0 -(T_CALF_LEN-T_CALF_RAD)' size='T_CALF_RAD' />
<geom name='l_lower_leg_thin' type='capsule' fromto='0 0 -0.5*T_CALF_RAD 0 0 -(0.2*T_CALF_LEN+T_CALF_RAD)' size='0.5*T_CALF_RAD' />
<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 (T_TORSO_HALF_WIDTH+T_UPPER_ARM_RAD) (T_TORSO_HALF_HEIGHT-T_UPPER_ARM_RAD)'>
<geom name='l_upper_arm' type='capsule' fromto='T_UPPER_ARM_RAD 0 0 (T_UPPER_ARM_LEN-T_UPPER_ARM_RAD) 0 0' size='T_UPPER_ARM_RAD' />
<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='T_UPPER_ARM_LEN 0.0 0.0'>
<geom name='l_lower_arm' type='capsule' fromto='T_LOWER_ARM_RAD 0 0 (T_LOWER_ARM_LEN-T_LOWER_ARM_RAD) 0 0' size='T_LOWER_ARM_RAD' />
<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='T_LOWER_ARM_LEN 0 0' >
<geom name='l_hand' type='sphere' pos='T_HAND_RAD 0 0' size='T_HAND_RAD' />
</body>
</body>
</body>
<body name='r_upper_arm' pos='0.0 -(T_TORSO_HALF_WIDTH+T_UPPER_ARM_RAD) (T_TORSO_HALF_HEIGHT-T_UPPER_ARM_RAD)'>
<geom name='r_upper_arm' type='capsule' fromto='T_UPPER_ARM_RAD 0 0 (T_UPPER_ARM_LEN-T_UPPER_ARM_RAD) 0 0' size='T_UPPER_ARM_RAD' />
<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='T_UPPER_ARM_LEN 0.0 0.0'>
<geom name='r_lower_arm' type='capsule' fromto='T_LOWER_ARM_RAD 0 0 (T_LOWER_ARM_LEN-T_LOWER_ARM_RAD) 0 0' size='T_LOWER_ARM_RAD' />
<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='T_LOWER_ARM_LEN 0 0' >
<geom name='r_hand' type='sphere' pos='T_HAND_RAD 0 0' size='T_HAND_RAD' />
</body>
</body>
</body>
</body>
</worldbody>
</mujoco>