| <mujoco model="ant"> | |
| <compiler inertiafromgeom="true" angle="degree" coordinate="local" /> | |
| <option timestep="0.02" integrator="RK4" /> | |
| <custom> | |
| <numeric name="init_qpos" 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" /> | |
| </custom> | |
| <default> | |
| <joint limited="true" armature="1" damping="1" /> | |
| <geom condim="3" conaffinity="0" margin="0.01" friction="1 0.5 0.5" solref=".02 1" solimp=".8 .8 .01" rgba="0.8 0.6 0.4 1" density="5.0" /> | |
| </default> | |
| <asset> | |
| <texture type="skybox" builtin="gradient" width="100" height="100" rgb1="1 1 1" 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="0 0 0" rgb2="0.8 0.8 0.8" width="100" height="100" /> | |
| <material name='MatPlane' texture="texplane" shininess="1" texrepeat="60 60" specular="1" reflectance="0.5" /> | |
| <material name='geom' texture="texgeom" texuniform="true" /> | |
| </asset> | |
| <worldbody> | |
| <light directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular=".1 .1 .1" pos="0 0 1.3" dir="-0 0 -1.3" /> | |
| <geom name='floor' pos='0 0 0' size='40 40 40' type='plane' conaffinity='1' rgba='0.8 0.9 0.8 1' condim='3' /> | |
| <body name="torso" pos="0 0 0.75"> | |
| <geom name="torso_geom" type="sphere" size="0.25" pos="0 0 0" /> | |
| <joint name="root" type="free" limited="false" pos="0 0 0" axis="0 0 1" margin="0.01" armature="0" damping="0" /> | |
| <body name="front_left_leg" pos="0 0 0"> | |
| <geom name="aux_1_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.2 0.2 0.0" /> | |
| <body name="aux_1" pos="0.2 0.2 0"> | |
| <joint name="hip_1" type="hinge" pos="0.0 0.0 0.0" axis="0 0 1" range="-30 30" /> | |
| <geom name="left_leg_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.2 0.2 0.0" /> | |
| <body pos="0.2 0.2 0"> | |
| <joint name="ankle_1" type="hinge" pos="0.0 0.0 0.0" axis="-1 1 0" range="30 70" /> | |
| <geom name="left_ankle_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.4 0.4 0.0" /> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="front_right_leg" pos="0 0 0"> | |
| <geom name="aux_2_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.2 0.2 0.0" /> | |
| <body name="aux_2" pos="-0.2 0.2 0"> | |
| <joint name="hip_2" type="hinge" pos="0.0 0.0 0.0" axis="0 0 1" range="-30 30" /> | |
| <geom name="right_leg_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.2 0.2 0.0" /> | |
| <body pos="-0.2 0.2 0"> | |
| <joint name="ankle_2" type="hinge" pos="0.0 0.0 0.0" axis="1 1 0" range="-70 -30" /> | |
| <geom name="right_ankle_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.4 0.4 0.0" /> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="back_leg" pos="0 0 0"> | |
| <geom name="aux_3_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" /> | |
| <body name="aux_3" pos="-0.2 -0.2 0"> | |
| <joint name="hip_3" type="hinge" pos="0.0 0.0 0.0" axis="0 0 1" range="-30 30" /> | |
| <geom name="back_leg_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" /> | |
| <body pos="-0.2 -0.2 0"> | |
| <joint name="ankle_3" type="hinge" pos="0.0 0.0 0.0" axis="-1 1 0" range="-70 -30" /> | |
| <geom name="third_ankle_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" /> | |
| </body> | |
| </body> | |
| </body> | |
| <body name="right_back_leg" pos="0 0 0"> | |
| <geom name="aux_4_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.2 -0.2 0.0" /> | |
| <body name="aux_4" pos="0.2 -0.2 0"> | |
| <joint name="hip_4" type="hinge" pos="0.0 0.0 0.0" axis="0 0 1" range="-30 30" /> | |
| <geom name="rightback_leg_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.2 -0.2 0.0" /> | |
| <body pos="0.2 -0.2 0"> | |
| <joint name="ankle_4" type="hinge" pos="0.0 0.0 0.0" axis="1 1 0" range="30 70" /> | |
| <geom name="fourth_ankle_geom" type="capsule" size="0.08" fromto="0.0 0.0 0.0 0.4 -0.4 0.0" /> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </worldbody> | |
| <actuator> | |
| <motor joint="hip_4" ctrlrange="-30.0 30.0" ctrllimited="true" /> | |
| <motor joint="ankle_4" ctrlrange="-30.0 30.0" ctrllimited="true" /> | |
| <motor joint="hip_1" ctrlrange="-30.0 30.0" ctrllimited="true" /> | |
| <motor joint="ankle_1" ctrlrange="-30.0 30.0" ctrllimited="true" /> | |
| <motor joint="hip_2" ctrlrange="-30.0 30.0" ctrllimited="true" /> | |
| <motor joint="ankle_2" ctrlrange="-30.0 30.0" ctrllimited="true" /> | |
| <motor joint="hip_3" ctrlrange="-30.0 30.0" ctrllimited="true" /> | |
| <motor joint="ankle_3" ctrlrange="-30.0 30.0" ctrllimited="true" /> | |
| </actuator> | |
| </mujoco> | |