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pupper_pybullet.xml
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pupper_pybullet.xml
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<!-- Stanford Woofer Model
The state space is populated with joints in the order that they are
defined in this file.
The elements of the control variable s.d.ctrl correspond to:
[fr_x, fr_y, fr_ext,
fl_x, fl_y, fl_ext,
br_x, br_y, br_ext,
bl_x, bl_y, bl_ext]
fr = front-right
fl = front-left
br = back-right
bl = back-left
_x indicates rotation on the forward/back axis of the robot
_y indicates rotation on the left/right axis of the hip module
_ext indicates linear extension of the leg. Positive values = leg goes up
-->
<mujoco model="cheetah">
<compiler angle="radian" coordinate="local" inertiafromgeom="false"/>
<default>
<joint armature="0.01936" solimplimit="0.9 0.95 0.001" solreflimit="0.001 1" stiffness="0"/>
<geom conaffinity="0" condim="3" contype="1" friction="1.5 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.9 0.95 0.001" solref="0.01 1"/>
<position forcelimited="true"/>
</default>
<option>
<flag sensornoise="disable"/>
</option>
<sensor>
<accelerometer name="accel" noise="0.01" site="imu_site"/>
<gyro name="gyro" noise="0.02" site="imu_site"/>
</sensor>
<size nstack="300000" nuser_geom="1"/>
<!-- Took out gravity="0 0 -9.81" term-->
<option timestep="0.001"/>
<!-- <option gravity="0 0 0" timestep="0.001"/> -->
<asset>
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
<material name="geom" texture="texgeom" texuniform="true"/>
</asset>
<worldbody>
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
<geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
<body name="torso" pos="0 0 0.2">
<camera name="track" mode="trackcom" pos="0 -2 0.3" xyaxes="1 0 0 0 0 1"/>
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="free"/>
<inertial pos="0 0 0" mass="0.56" diaginertia="0.0005532 0.0037619999999999997 0.004011000000000001"/>
<geom pos="0 0 0" name="torso" size="0.138 0.05 0.025" type="box"/>
<site name="imu_site" pos="0 0 0" size=".01 .01 .01" type="box"/>
<body name="fr_module" pos="0.1 -0.0419 0">
<geom pos="0 -0.0132 0" name="fr_block" type="box" size="0.0197 0.0372 0.0107" rgba="0.6 0.8 .4 1"/>
<joint axis="1 0 0" name="fr_x" pos="0 0 0" limited="true" range="-1.57 1.57" type="hinge" damping="1.049"/>
<inertial pos="0 0 0" mass="0.08" diaginertia="3.698e-05 7.127e-06 4.075e-05"/>
<body name="fr" pos="0 -0.027 0">
<joint axis="0 1 0" name="fr_y" pos="0 0 0" limited="true" range="-1.57 1.57" type="hinge" damping="1.049"/>
<inertial pos="0 0 0" mass="0.03" diaginertia="1.3020833333333332e-05 1.3020833333333332e-05 1e-06"/>
<geom axisangle="0 1 0 0" name="fr" fromto="0 0 0 0 0 -0.125" size="0.01" type="capsule" rgba = "1 0 0 0.5" density="50"/>
<body name="fr2" pos="0 0 -0.1235">
<joint axis="0 1 0" name="fr_y2" pos="0 0 0" limited="true" range="-3.14 0.0" type="hinge" damping="1.049"/>
<inertial pos="0 0 0" mass="0.03" diaginertia="1.3020833333333332e-05 1.3020833333333332e-05 1e-06"/>
<geom axisangle="0 1 0 0" name="fr_l2" fromto="0 0 0 0 0 -0.125" size="0.01" type="capsule" rgba="1 0 0 0.5" density="50"/>
</body>
</body>
</body>
<body name="fl_module" pos="0.1 0.0419 0">
<geom pos = "0 0.0132 0" name="fl_block" type="box" size="0.0197 0.0372 0.0107" rgba="0.6 0.8 .4 1"/>
<joint axis="1 0 0" name="fl_x" pos="0 0 0" limited="true" range="-1.57 1.57" type="hinge" damping="1.049"/>
<inertial pos="0 0 0" mass="0.08" diaginertia="3.698e-05 7.127e-06 4.075e-05"/>
<body name="fl" pos="0 0.027 0">
<joint axis="0 1 0" name="fl_y" pos="0 0 0" limited="true" range="-1.57 1.57" type="hinge" damping="1.049"/>
<inertial pos="0 0 0" mass="0.03" diaginertia="1.3020833333333332e-05 1.3020833333333332e-05 1e-06"/>
<geom axisangle="0 1 0 0" name="fl" fromto="0 0 0 0 0 -0.125" size="0.01" type="capsule" rgba = "1 0 0 0.5" density="50"/>
<body name="fl2" pos="0 0 -0.1235">
<joint axis="0 1 0" name="fl_y2" pos="0 0 0" limited="true" range="-3.14 0.0" type="hinge" damping="1.049"/>
<inertial pos="0 0 0" mass="0.03" diaginertia="1.3020833333333332e-05 1.3020833333333332e-05 1e-06"/>
<geom axisangle="0 1 0 0" name="fl_l2" fromto="0 0 0 0 0 -0.125" size="0.01" type="capsule" rgba="1 0 0 0.5" density="50"/>
</body>
</body>
</body>
<body name="br_module" pos="-0.1 -0.0419 0">
<geom pos = "0 -0.0132 0" name="br_block" type="box" size="0.0197 0.0372 0.0107" rgba="0.6 0.8 .4 1"/>
<joint axis="1 0 0" name="br_x" pos="0 0 0" limited="true" range="-1.57 1.57" type="hinge" damping="1.049"/>
<inertial pos="0 0 0" mass="0.08" diaginertia="3.698e-05 7.127e-06 4.075e-05"/>
<body name="br" pos="0 -0.027 0">
<joint axis="0 1 0" name="br_y" pos="0 0 0" limited="true" range="-1.57 1.57" type="hinge" damping="1.049"/>
<inertial pos="0 0 0" mass="0.03" diaginertia="1.3020833333333332e-05 1.3020833333333332e-05 1e-06"/>
<geom axisangle="0 1 0 0" name="br" fromto="0 0 0 0 0 -0.125" size="0.01" type="capsule" rgba = "1 0 0 0.5" density="50"/>
<body name="br2" pos="0 0 -0.1235">
<joint axis="0 1 0" name="br_y2" pos="0 0 0" limited="true" range="-3.14 0.0" type="hinge" damping="1.049"/>
<inertial pos="0 0 0" mass="0.03" diaginertia="1.3020833333333332e-05 1.3020833333333332e-05 1e-06"/>
<geom axisangle="0 1 0 0" name="br_l2" fromto="0 0 0 0 0 -0.125" size="0.01" type="capsule" rgba="1 0 0 0.5" density="50"/>
</body>
</body>
</body>
<body name="bl_module" pos="-0.1 0.0419 0">
<geom pos = "0 0.0132 0" name="bl_block" type="box" size="0.0197 0.0372 0.0107" rgba="0.6 0.8 .4 1"/>
<joint axis="1 0 0" name="bl_x" pos="0 0 0" limited="true" range="-1.57 1.57" type="hinge" damping="1.049"/>
<inertial pos="0 0 0" mass="0.08" diaginertia="3.698e-05 7.127e-06 4.075e-05"/>
<body name="bl" pos="0 0.027 0">
<joint axis="0 1 0" name="bl_y" pos="0 0 0" limited="true" range="-1.57 1.57" type="hinge" damping="1.049"/>
<inertial pos="0 0 0" mass="0.03" diaginertia="1.3020833333333332e-05 1.3020833333333332e-05 1e-06"/>
<geom axisangle="0 1 0 0" name="bl" fromto="0 0 0 0 0 -0.125" size="0.01" type="capsule" rgba = "1 0 0 0.5" density="50"/>
<body name="bl2" pos="0 0 -0.1235">
<joint axis="0 1 0" name="bl_y2" pos="0 0 0" limited="true" range="-3.14 0.0" type="hinge" damping="1.049"/>
<inertial pos="0 0 0" mass="0.03" diaginertia="1.3020833333333332e-05 1.3020833333333332e-05 1e-06"/>
<geom axisangle="0 1 0 0" name="bl_l2" fromto="0 0 0 0 0 -0.125" size="0.01" type="capsule" rgba="1 0 0 0.5" density="50"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<position gear="1" joint="fr_x" name="fr_x" kp="300" forcerange="-3.0 3.0"/>
<position gear="1" joint="fr_y" name="fr_y" kp="300" forcerange="-3.0 3.0"/>
<position gear="1" joint="fr_y2" name="fr_y2" kp="300" forcerange="-3.0 3.0"/>
<position gear="1" joint="fl_x" name="fl_x" kp="300" forcerange="-3.0 3.0"/>
<position gear="1" joint="fl_y" name="fl_y" kp="300" forcerange="-3.0 3.0"/>
<position gear="1" joint="fl_y2" name="fl_y2" kp="300" forcerange="-3.0 3.0"/>
<position gear="1" joint="br_x" name="br_x" kp="300" forcerange="-3.0 3.0"/>
<position gear="1" joint="br_y" name="br_y" kp="300" forcerange="-3.0 3.0"/>
<position gear="1" joint="br_y2" name="br_y2" kp="300" forcerange="-3.0 3.0"/>
<position gear="1" joint="bl_x" name="bl_x" kp="300" forcerange="-3.0 3.0"/>
<position gear="1" joint="bl_y" name="bl_y" kp="300" forcerange="-3.0 3.0"/>
<position gear="1" joint="bl_y2" name="bl_y2" kp="300" forcerange="-3.0 3.0"/>
</actuator>
</mujoco>