/
kayraLowerBody.xml
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/
kayraLowerBody.xml
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<mujoco model="Kayra">
<option gravity="0 0 -9.81"/>
<compiler angle="degree"/>
<default>
<mesh scale="0.01 0.01 0.01"/>
<!--geom type="mesh" solref="0.005 1"/-->
<!--position kp="21.1" ctrlrange="-3.141592 3.141592" forcerange="-5 5"/-->
<joint armature="0.01" damping=".1" limited="true"/>
<geom conaffinity="0" condim="3" contype="1" type="mesh" />
</default>
<asset>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="blue" rgba="0.23 0.51 0.74 1"/>
<material name="yellow" rgba="0.99 0.74 0.0 1"/>
<material name="white" rgba="0.98 0.98 0.97 1"/>
<material name="red" rgba="0.80 0.0 0.0 1"/>
<material name="black" rgba="0.0 0.0 0.0 1"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
<mesh name="servoBlock" file="../STL/servoBlock-Body.stl"/>
<mesh name="1R_foot" file="../STL/1R_foot_bearing-BodySketch.stl"/>
<mesh name="1L_foot" file="../STL/1L_foot_bearing-BodySketch.stl"/>
<mesh name="2R_footJoint" file="../STL/2R_footJoint_bearing-Body.stl"/>
<mesh name="2L_footJoint" file="../STL/2L_footJoint_bearing-Body.stl"/>
<mesh name="3BR_calf" file="../STL/3BR_calf-Body.stl"/>
<mesh name="3BL_calf" file="../STL/3BL_calf-Body.stl"/>
<mesh name="3FU_shin" file="../STL/3FU_shin-Body.stl"/>
<mesh name="4R_knee" file="../STL/4R_knee-Body.stl"/>
<mesh name="4L_knee" file="../STL/4L_knee-Body.stl"/>
<mesh name="5R_hipjoint_lower" file="../STL/5R_hipjoint_lower-Body.stl"/>
<mesh name="5L_hipjoint_lower" file="../STL/5L_hipjoint_lower-Body.stl"/>
<mesh name="5R_hipjoint_upper" file="../STL/5R_hipjoint_upper_bearing-Body.stl"/>
<mesh name="5L_hipjoint_upper" file="../STL/5L_hipjoint_upper_bearing-Body.stl"/>
<mesh name="6F_hipfront" file="../STL/6F_hipfront-Body.stl"/>
<mesh name="6F_hipback" file="../STL/6F_hipback-Body.stl"/>
<mesh name="6R_hip" file="../STL/6R_hip_bearing-Body.stl"/>
<mesh name="6L_hip" file="../STL/6L_hip_bearing-Body.stl"/>
</asset>
<worldbody>
<camera name="follow" pos="-2.0 2.0 3" xyaxes="-1.0 -1 0 1.0 0 1" mode="trackcom"/>
<light directional="true" pos="-0.5 0.5 3" dir="0 0 -1" />
<geom name="floor" size="0 0 .05" type="plane" material="grid" conaffinity="1" condim="3"/>
<body name="6Hip_Link" pos="-0.0 0.0 2.975" euler= "90 0.0 0.0">
<joint type="free"/>
<!--inertial pos="0 0 0.1" mass="0.10" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="6F_hipfront" type="mesh" pos="0.0 -0.043 -0.215" euler="90 180.0 180.0" material="blue" conaffinity="2"/>
<geom mesh="6F_hipback" type="mesh" pos="0.0 -0.043 0.215" euler="90 180.0 180" material="blue" conaffinity="2"/>
<geom mesh="6R_hip" type="mesh" pos="-0.425 -0.19 -0.001" euler="0.0 90 -90" material="red" conaffinity="2"/>
<geom mesh="servoBlock" type="mesh" euler="90 0 90" pos="-0.3 -0.01 -0.01" mass="67.0" material="black" conaffinity="2"/>
<geom mesh="6L_hip" type="mesh" pos="0.425 -0.19 -0.001" euler="0.0 90 -90" material="red" conaffinity="2"/>
<geom mesh="servoBlock" type="mesh" euler="90 0 90" pos="0.3 -0.01 -0.01" mass="67.0" material="black" conaffinity="2"/>
<body name="5R_Link" pos="-0.735 -0.525 -0.195" euler= "0 0 0">
<joint name="5R_Joint" axis="0 0 -1" range="-180 180" pos="0.43 0.235 0.18"/>
<!--inertial pos="0 0 0.1" mass="0.10" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="5R_hipjoint_upper" type="mesh" euler= "0.0 0 -0.0" pos="0.33 -0.015 0.17" material="yellow" conaffinity="3"/>
<geom mesh="5R_hipjoint_lower" type="mesh" euler= "90.0 180 -0.0" pos="0.33 -0.055 0.17" material="blue" conaffinity="3"/>
<body name="3BRU_Link" pos="0.25 -0.39 0.17" euler="0.0 0 -90">
<joint name="3BRU_Joint" axis="0 -1 0" range="-180 180" pos="-0.09 0.1 0.11"/>
<!--inertial pos="0 0 0" mass="0.10" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="3BR_calf" type="mesh" euler="0 0 180" pos="0.1125 0.105 -0.01" material="yellow" conaffinity="3"/>
<geom mesh="servoBlock" type="mesh" euler="90 0 0" pos="0.01 0.295 0.15" mass="67.0" material="black" conaffinity="3"/>
<body name="4R_Link" pos="0.675 0.0 -0.18" euler= "0.0 -90 90">
<joint name="4R_Joint" axis="-1 0 0" range="-180 180" pos="-0.10 -0.31 0.13"/>
<!--inertial pos="0 0 0.1" mass="0.10" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="4R_knee" type="mesh" material="red" pos="0.08 0.02 -0.01" euler="0 180 0" conaffinity="3"/>
<body name="3BR_Link" pos="0 -0.17 -0.225" euler="90 0 -90">
<joint name="3BR_Joint" axis="0 -1 0" range="-180 180" pos="-0.10 -0.06 0.14"/>
<!--inertial pos="0 0 0" mass="0.10" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="3BR_calf" type="mesh" euler="0 0 180" pos="0.112 0.105 0.0" material="white" conaffinity="3"/>
<geom mesh="servoBlock" type="mesh" euler="90 0 0" pos="0.01 0.295 0.15" material="black" conaffinity="3"/>
<body name="2R_Link" pos="1.0 -0.3 0.2" euler= "0 -90 90">
<joint name="2R_Joint" axis="-1 0 0" range="-180 180" pos="0.23 0.05 0.45"/>
<!--inertial pos="0 0 0.1" mass="0.05" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="2R_footJoint" type="mesh" pos="0.075 0.01 0.0" material="yellow" conaffinity="3"/>
<geom mesh="servoBlock" type="mesh" euler="90 0 0" pos="0.345 0.40 0.12" material="black" conaffinity="3"/>
<body name="3FUR_Link" pos="0.3 0.35 0.62" euler="-90 0 0">
<joint name="3FUR_Joint" axis="-1 0 0" range="-180 180" pos="-0.03 0.33 -0.02"/>
<!--nertial pos="0 0 0" mass="0.05" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="3FU_shin" type="mesh" euler="90 0 90" pos="0.08 0.005 -0.25" material="blue" conaffinity="3"/>
</body>
<body name="1R_Link" pos="0.3 0.2 -0.15" euler="0 0 0.0">
<joint name="1R_Joint" axis="0 1 0" range="-180 180" pos="0.15 -0.07 0.27"/>
<!--inertial pos="0 0 0" mass="0.05" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="1R_foot" type="mesh" euler="0 0 0" pos="0.0 0.0 0.0" material="blue" conaffinity="3"/>
</body>
</body>
</body>
<body name="3FURU_Link" pos="0.0 -0.020 0.60" euler="-90 0 0">
<joint name="3FURU_Joint" axis="-1 0 0" range="-180 180" pos="-0.04 0.325 -0.03"/>
<inertial pos="0 0 0" mass="0.05" diaginertia="0.005 0.005 0.005"/>
<geom mesh="3FU_shin" type="mesh" euler="90 0 90" pos="0.08 0.0095 -0.25" material="yellow" conaffinity="3"/>
</body>
</body>
</body>
</body>
<body name="5L_Link" pos="0.735 -0.525 -0.195" euler= "0 0.0 -0.0">
<joint name="5L_Joint" axis="0 0 -1" range="-180 180" pos="-0.43 0.235 0.18"/>
<!--inertial pos="0 0 0.1" mass="0.10" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="5L_hipjoint_upper" type="mesh" pos="-0.33 -0.015 0.17" euler= "0.0 0 -0.0" material="yellow" conaffinity="4"/>
<geom mesh="5L_hipjoint_lower" type="mesh" pos="-0.33 -0.055 0.17" euler= "90.0 180 -0.0" material="blue" conaffinity="4"/>
<body name="3BLU_Link" pos="-0.25 -0.39 0.17" euler="0.0 0 -90">
<joint name="3BLU_Joint" axis="0 1 0" range="-180 180" pos="-0.09 -0.1 0.11"/>
<!--inertial pos="0 0 0" mass="0.10" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="3BL_calf" type="mesh" euler="180 180 0" pos="0.1125 -0.105 -0.01" material="yellow" conaffinity="4"/>
<geom mesh="servoBlock" type="mesh" euler="90 0 0" pos="0.01 0.085 0.15" mass="67.0" material="black" conaffinity="4"/>
<body name="4L_Link" pos="0.675 0 -0.18" euler= "0.0 -90 90">
<joint name="4L_Joint" axis="1 0 0" range="-180 180" pos="0.1 -0.31 0.13"/>
<!--inertial pos="0 0 0.1" mass="0.10" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="4L_knee" type="mesh" material="red" pos="-0.08 0.02 -0.01" euler= "0.0 180 0" conaffinity="4"/>
<body name="3BL_Link" pos="0 -0.17 -0.225" euler="90 0 -90">
<joint name="3BL_Joint" axis="0 1 0" range="-180 180" pos="-0.10 0.06 0.14"/>
<!--inertial pos="0 0 0" mass="0.10" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="3BL_calf" type="mesh" euler="0 0 180" pos="0.112 -0.105 0.0" material="white" conaffinity="4"/>
<geom mesh="servoBlock" type="mesh" euler="90 0 0" pos="0.01 0.085 0.15" mass="67.0" material="black" conaffinity="4"/>
<body name="2L_Link" pos="1.0 0.3 0.2" euler= "0 -90 90">
<joint name="2L_Joint" axis="1 0 0" range="-180 180" pos="-0.23 0.05 0.45"/>
<!--inertial pos="0 0 0.1" mass="0.05" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="2L_footJoint" type="mesh" pos="-0.075 0.01 0.0" material="yellow" conaffinity="4"/>
<geom mesh="servoBlock" type="mesh" euler="90 0 0" pos="-0.345 0.40 0.115" material="black" conaffinity="4"/>
<body name="3FUL_Link" pos="-0.3 0.35 0.62" euler="-90 0 0">
<joint name="3FUL_Joint" axis="1 0 0" range="-180 180" pos="0.03 0.33 -0.02"/>
<!--inertial pos="0 0 0" mass="0.05" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="3FU_shin" type="mesh" euler="90 0 90" pos="-0.08 0.005 -0.25" material="blue" conaffinity="4"/>
</body>
<body name="1L_Link" pos="-0.3 0.2 -0.15" euler="0 0 0.0">
<joint name="1L_Joint" axis="0 1 0" range="-180 180" pos="-0.15 -0.07 0.27"/>
<!--inertial pos="0 0 0" mass="0.05" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="1L_foot" type="mesh" euler="0 0 0" pos="0.0 0.0 0.0" material="blue" conaffinity="4"/>
</body>
</body>
</body>
<body name="3FULU_Link" pos="0.0 -0.020 0.60" euler="-90 0 0">
<joint name="3FULU_Joint" axis="1 0 0" range="-180 180" pos="0.04 0.325 -0.03"/>
<!--inertial pos="0 0 0" mass="0.05" diaginertia="0.005 0.005 0.005"/-->
<geom mesh="3FU_shin" type="mesh" euler="90 0 90" pos="-0.08 0.0095 -0.25" material="yellow" conaffinity="4"/>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<equality>
<connect name="lowerRightLeg_kinematic_link" active="true" body1="4R_Link" body2="3FUR_Link" anchor="0.34 -0.03 -0.29"/>
<connect name="lowerLeftLeg_kinematic_link" active="true" body1="4L_Link" body2="3FUL_Link" anchor="-0.34 -0.03 -0.29"/>
<connect name="upperRightLeg_kinematic_link" active="true" body1="5R_Link" body2="3FURU_Link" anchor="0.58 -0.15 0.02"/>
<connect name="upperLeftLeg_kinematic_link" active="true" body1="5L_Link" body2="3FULU_Link" anchor="-0.58 -0.15 0.02"/>
</equality >
<actuator>
<position name="Right Hip Joint 5R" joint="5R_Joint"/>
<position name="Right Upper Calf 3BRU" joint="3BRU_Joint"/>
<position name="Right Lower Calf 3BR" joint="3BR_Joint"/>
<position name="Right Foot 1R" joint="1R_Joint"/>
<position name="Left Hip Joint 5L" joint="5L_Joint"/>
<position name="Left Upper Calf 3BLU" joint="3BLU_Joint"/>
<position name="Left Lower Calf 3BL" joint="3BL_Joint"/>
<position name="Left Foot 1L" joint="1L_Joint"/>
</actuator>
</mujoco>