Yuval Tassa
22fab04c02
0. Keyframe was generated by simulating passively for 64 timesteps and then saving from `simulate`. 1. This makes forward.data much more informative. There are more contacts, velocities are not 0. 2. Added non-zero controls to forward.data. 3. 70 timesteps is a lot to integrate, things can change a lot. Since we now start at time = 0.128 = after 64 steps of passive simulation, we continue to integrate for only 6 timesteps. PiperOrigin-RevId: 570966233 Change-Id: I9538aa44619393ff05ed8c3177e73993e222150a
164 lines
6.9 KiB
XML
164 lines
6.9 KiB
XML
<mujoco>
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<option jacobian="dense" density="1.225" viscosity="1.8e-5" wind="0 0 1">
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<flag fwdinv="enable" energy="enable" island="enable"/>
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</option>
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<asset>
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<mesh name="icosahedron" scale=".05 .05 .05"
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vertex="0 1 1.618
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0 -1 1.618
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0 1 -1.618
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0 -1 -1.618
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1 1.618 0
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-1 1.618 0
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1 -1.618 0
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-1 -1.618 0
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1.618 0 1
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1.618 0 -1
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-1.618 0 1
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-1.618 0 -1"/>
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<hfield name="hfield" nrow="3" ncol="3" size=".2 .2 .1 .03"/>
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</asset>
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<default>
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<site rgba=".5 .5 .5 .5"/>
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<joint armature="1" damping="10"/>
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<general ctrllimited="true" ctrlrange="-1 1"/>
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<default class="hip0">
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<joint springref="30" stiffness="60"/>
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</default>
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<default class="hip1">
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<joint limited="true" range="-60 60" stiffness="10"/>
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</default>
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<default class="wheel">
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<joint damping=".1" armature=".1"/>
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</default>
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</default>
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<worldbody>
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<light pos="0 0 3"/>
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<geom name="floor" type="plane" size="4 4 .1"/>
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<geom type="hfield" hfield="hfield" pos="-.4 .6 .05" rgba="0 0 1 1"/>
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<body name="head" pos="0 0 .7">
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<geom type="ellipsoid" size=".2 .2 .4" rgba="1 1 0 1" density="100"/>
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<site name="head" pos="0 0 .4" size=".1 .1 .05" type="box"/>
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<site name="anchor0" pos="0 .2 0"/>
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<site name="rf" pos="0 0 -0.41" zaxis="0 0 -1"/>
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<freejoint/>
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<body euler="0 0 0" pos=".2 0 -.2">
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<joint name="hipz_0" class="hip1" axis="0 0 1"/>
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<joint name="hipy_0" class="hip0" axis="0 1 0"/>
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<geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
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<body pos=".3 0 0">
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<site name="knee"/>
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<geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .1 0 -.3"/>
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<body pos=".1 0 -.3">
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<joint name="wheel_0" type="ball" class="wheel"/>
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<site name="wheel_0" type="box" size=".1 .1 .1"/>
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<geom name="wheel_0" size=".1 .2 .1" rgba="0 1 0 1" type="ellipsoid"/>
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</body>
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</body>
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</body>
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<body euler="0 0 120" pos="-.15 .2 -.2">
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<joint name="hipz_1" class="hip1" axis="0 0 1"/>
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<joint name="hipy_1" class="hip0" axis="0 1 0"/>
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<geom type="box" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
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<geom type="box" size=".05" rgba="1 0 0 1" fromto=".3 0 0 .4 0 -.3"/>
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<body pos=".45 0 -.3">
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<joint name="wheel_1" axis="1 0 0" class="wheel"/>
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<geom size=".1" rgba="0 1 0 1" type="cylinder" fromto="0 0 0 .03 0 0"/>
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<site name="wheel_1" type="box" size=".02 .11 .11" pos=".015 0 0"/>
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</body>
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</body>
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<body euler="0 0 240" pos="-.15 -.2 -.2">
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<joint name="hipz_2" class="hip1" axis="0 0 1"/>
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<joint name="hipy_2" class="hip0" axis="0 1 0"/>
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<geom type="capsule" size=".05" rgba="1 0 0 1" fromto="0 0 0 .3 0 0"/>
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<geom type="capsule" size=".05" rgba="1 0 0 1" fromto=".3 0 0 .4 0 -.3"/>
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<body pos=".45 0 -.3">
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<joint name="wheel_2" axis="1 0 0" class="wheel"/>
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<geom size=".1" rgba="0 1 0 1" type="cylinder" fromto="0 0 0 .03 0 0"/>
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<site name="wheel_2" size=".13" rgba="0 0 0 0.1" type="cylinder" fromto="-.01 0 0 .04 0 0"/>
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</body>
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</body>
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</body>
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<body pos="-.33 0 1">
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<joint name="slider" type="slide" axis="0 0 1" limited="true" range="-.2 .5"/>
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<joint type="hinge" axis="0 1 0"/>
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<geom type="mesh" mesh="icosahedron" size=".1" rgba="0 0 1 1"/>
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</body>
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<body name="cylinder" pos="-.5 .3 .7">
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<freejoint/>
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<geom name="wrapping" type="cylinder" size=".04" fromto="-.1 -.2 0 .1 .4 0"/>
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<site name="cylinder"/>
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</body>
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<site name="sidesite" pos="-.5 .4 1"/>
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<body pos="-.3 .6 .8">
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<freejoint/>
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<geom type="box" size=".05 .05 .05" rgba="0 0 1 1"/>
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<site name="anchor1" pos=".05 .05 .05"/>
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</body>
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<body pos="-.6 .4 .8">
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<freejoint/>
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<geom type="box" size=".05 .05 .05" rgba="0 0 1 1"/>
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<site name="anchor2" pos=".05 .05 .05"/>
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</body>
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<body name="tumbling" pos="-.2 .3 1">
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<freejoint/>
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<geom type="box" size=".025 .01 0.0001" pos=".025 0 0" euler="20 0 0" mass="1e-4" fluidshape="ellipsoid"/>
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<geom type="box" size=".025 .01 0.0001" pos="-.025 0 0" euler="-19 0 0" mass="1e-4" fluidshape="ellipsoid"/>
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</body>
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</worldbody>
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<equality>
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<weld body1="cylinder" body2="world"/>
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</equality>
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<tendon>
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<spatial name="spatial" limited="true" range="0 .7" rgba="1 0 1 1">
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<site site="anchor0"/>
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<site site="anchor1"/>
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<geom geom="wrapping" sidesite="sidesite"/>
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<site site="anchor2"/>
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</spatial>
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<fixed name="fixed">
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<joint joint="hipy_0" coef="1"/>
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<joint joint="hipy_1" coef="1"/>
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</fixed>
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</tendon>
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<actuator>
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<motor tendon="fixed" gear="100"/>
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<motor tendon="spatial" gear="10"/>
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<motor joint="hipy_2" gear="100"/>
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<position joint="hipz_1" kp="100"/>
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<position joint="hipz_2" kp="100"/>
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<velocity joint="wheel_2" kv="1"/>
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<intvelocity joint="hipz_0" kp="100" actrange="-1 1"/>
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<general site="wheel_0" gear="0 0 0 0 10 0" dyntype="filter" dynprm="1"/>
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<general joint="wheel_1" biastype="affine" dyntype="integrator" dynprm="1" biasprm="0 -1"/>
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<general joint="hipy_1" actearly="true" dyntype="filterexact" dynprm="0.9" gear="12.1" />
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</actuator>
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<sensor>
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<framepos objtype="site" objname="wheel_0" reftype="site" refname="wheel_2"/>
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<rangefinder site="rf"/>
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<gyro site="wheel_2"/>
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<touch site="wheel_1"/>
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<force site="knee"/>
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<torque site="knee"/>
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<force site="cylinder"/>
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<torque site="cylinder"/>
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<jointlimitfrc joint="slider"/>
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<accelerometer site="head"/>
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<subtreeangmom body="head"/>
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</sensor>
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<keyframe>
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<key name="start"
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time="0.128"
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qpos="0.0133625 -0.013799 0.659429 0.999776 0.019159 0.00902704 0.000572574 -0.00776575 0.0983289 0.999861 -0.00869796 -0.0141805 0.000912197 0.00700633 0.0930296 0.00637469 -0.00313231 0.119692 0.0051478 -0.0469067 0 -0.500224 0.300659 0.69913 1 -0.000367766 -0.000265698 -0.000109715 -0.319851 0.525628 0.702735 0.29858 0.698263 -0.0490604 -0.648746 -0.579432 0.4206 0.749601 0.900145 -0.208463 0.346664 -0.161576 -0.200033 0.300084 0.976421 0.878429 -0.00171382 0.00127086 -0.477867"
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qvel="0.508861 -0.243772 -0.327162 0.549686 1.13746 0.0282475 -0.0865243 1.06414 -0.239958 -0.532111 -0.00133789 -0.0654491 0.533148 -0.253161 0.122149 0.824764 0.723529 -0.674175 0 -0.00154509 -0.00568917 0.00479921 0.00541817 0.00115895 0.00317796 -0.160161 -0.599488 -1.38103 14.9789 -1.05454 -13.9252 -0.31223 -0.0102486 -0.405851 5.43992 -4.71514 0.114928 -0.00123758 0.000187845 -0.244109 -0.190199 0.0697975 -16.3286"/>
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</keyframe>
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</mujoco>
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