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atom01

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1 Parent(s): d8ee3e0

Make Atom MJCFs directly trainable

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Files changed (2) hide show
  1. mjcf/atom01-capsule.xml +0 -102
  2. mjcf/atom01-mesh.xml +0 -102
mjcf/atom01-capsule.xml CHANGED
@@ -212,108 +212,6 @@
212
  </body>
213
  </body>
214
  </worldbody>
215
- <actuator>
216
- <motor name="left_thigh_yaw_joint" joint="left_thigh_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
217
- <motor name="left_thigh_roll_joint" joint="left_thigh_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
218
- <motor name="left_thigh_pitch_joint" joint="left_thigh_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
219
- <motor name="left_knee_joint" joint="left_knee_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
220
- <motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
221
- <motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
222
- <motor name="right_thigh_yaw_joint" joint="right_thigh_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
223
- <motor name="right_thigh_roll_joint" joint="right_thigh_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
224
- <motor name="right_thigh_pitch_joint" joint="right_thigh_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
225
- <motor name="right_knee_joint" joint="right_knee_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
226
- <motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
227
- <motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
228
- <motor name="torso_joint" joint="torso_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
229
- <motor name="left_arm_pitch_joint" joint="left_arm_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
230
- <motor name="left_arm_roll_joint" joint="left_arm_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
231
- <motor name="left_arm_yaw_joint" joint="left_arm_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
232
- <motor name="left_elbow_pitch_joint" joint="left_elbow_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
233
- <motor name="left_elbow_yaw_joint" joint="left_elbow_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
234
- <motor name="right_arm_pitch_joint" joint="right_arm_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
235
- <motor name="right_arm_roll_joint" joint="right_arm_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
236
- <motor name="right_arm_yaw_joint" joint="right_arm_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
237
- <motor name="right_elbow_pitch_joint" joint="right_elbow_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
238
- <motor name="right_elbow_yaw_joint" joint="right_elbow_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
239
- </actuator>
240
- <sensor>
241
- <actuatorpos name="left_thigh_yaw_p" actuator="left_thigh_yaw_joint" user="13" />
242
- <actuatorpos name="left_thigh_roll_p" actuator="left_thigh_roll_joint" user="13" />
243
- <actuatorpos name="left_thigh_pitch_p" actuator="left_thigh_pitch_joint" user="13" />
244
- <actuatorpos name="left_knee_p" actuator="left_knee_joint" user="13" />
245
- <actuatorpos name="left_ankle_pitch_p" actuator="left_ankle_pitch_joint" user="13" />
246
- <actuatorpos name="left_ankle_roll_p" actuator="left_ankle_roll_joint" user="13" />
247
- <actuatorpos name="right_thigh_yaw_p" actuator="right_thigh_yaw_joint" user="13" />
248
- <actuatorpos name="right_thigh_roll_p" actuator="right_thigh_roll_joint" user="13" />
249
- <actuatorpos name="right_thigh_pitch_p" actuator="right_thigh_pitch_joint" user="13" />
250
- <actuatorpos name="right_knee_p" actuator="right_knee_joint" user="13" />
251
- <actuatorpos name="right_ankle_pitch_p" actuator="right_ankle_pitch_joint" user="13" />
252
- <actuatorpos name="right_ankle_roll_p" actuator="right_ankle_roll_joint" user="13" />
253
- <actuatorpos name="torso_yaw_p" actuator="torso_joint" user="13" />
254
- <actuatorpos name="left_arm_pitch_p" actuator="left_arm_pitch_joint" user="13" />
255
- <actuatorpos name="left_arm_roll_p" actuator="left_arm_roll_joint" user="13" />
256
- <actuatorpos name="left_arm_yaw_p" actuator="left_arm_yaw_joint" user="13" />
257
- <actuatorpos name="left_elbow_pitch_p" actuator="left_elbow_pitch_joint" user="13" />
258
- <actuatorpos name="left_elbow_yaw_p" actuator="left_elbow_yaw_joint" user="13" />
259
- <actuatorpos name="right_arm_pitch_p" actuator="right_arm_pitch_joint" user="13" />
260
- <actuatorpos name="right_arm_roll_p" actuator="right_arm_roll_joint" user="13" />
261
- <actuatorpos name="right_arm_yaw_p" actuator="right_arm_yaw_joint" user="13" />
262
- <actuatorpos name="right_elbow_pitch_p" actuator="right_elbow_pitch_joint" user="13" />
263
- <actuatorpos name="right_elbow_yaw_p" actuator="right_elbow_yaw_joint" user="13" />
264
- <actuatorvel name="left_thigh_yaw_v" actuator="left_thigh_yaw_joint" user="13" />
265
- <actuatorvel name="left_thigh_roll_v" actuator="left_thigh_roll_joint" user="13" />
266
- <actuatorvel name="left_thigh_pitch_v" actuator="left_thigh_pitch_joint" user="13" />
267
- <actuatorvel name="left_knee_v" actuator="left_knee_joint" user="13" />
268
- <actuatorvel name="left_ankle_pitch_v" actuator="left_ankle_pitch_joint" user="13" />
269
- <actuatorvel name="left_ankle_roll_v" actuator="left_ankle_roll_joint" user="13" />
270
- <actuatorvel name="right_thigh_yaw_v" actuator="right_thigh_yaw_joint" user="13" />
271
- <actuatorvel name="right_thigh_roll_v" actuator="right_thigh_roll_joint" user="13" />
272
- <actuatorvel name="right_thigh_pitch_v" actuator="right_thigh_pitch_joint" user="13" />
273
- <actuatorvel name="right_knee_v" actuator="right_knee_joint" user="13" />
274
- <actuatorvel name="right_ankle_pitch_v" actuator="right_ankle_pitch_joint" user="13" />
275
- <actuatorvel name="right_ankle_roll_v" actuator="right_ankle_roll_joint" user="13" />
276
- <actuatorvel name="torso_yaw_v" actuator="torso_joint" user="13" />
277
- <actuatorvel name="left_arm_pitch_v" actuator="left_arm_pitch_joint" user="13" />
278
- <actuatorvel name="left_arm_roll_v" actuator="left_arm_roll_joint" user="13" />
279
- <actuatorvel name="left_arm_yaw_v" actuator="left_arm_yaw_joint" user="13" />
280
- <actuatorvel name="left_elbow_pitch_v" actuator="left_elbow_pitch_joint" user="13" />
281
- <actuatorvel name="left_elbow_yaw_v" actuator="left_elbow_yaw_joint" user="13" />
282
- <actuatorvel name="right_arm_pitch_v" actuator="right_arm_pitch_joint" user="13" />
283
- <actuatorvel name="right_arm_roll_v" actuator="right_arm_roll_joint" user="13" />
284
- <actuatorvel name="right_arm_yaw_v" actuator="right_arm_yaw_joint" user="13" />
285
- <actuatorvel name="right_elbow_pitch_v" actuator="right_elbow_pitch_joint" user="13" />
286
- <actuatorvel name="right_elbow_yaw_v" actuator="right_elbow_yaw_joint" user="13" />
287
- <actuatorfrc name="left_thigh_yaw_f" actuator="left_thigh_yaw_joint" user="13" noise="1e-3" />
288
- <actuatorfrc name="left_thigh_roll_f" actuator="left_thigh_roll_joint" user="13" noise="1e-3" />
289
- <actuatorfrc name="left_thigh_pitch_f" actuator="left_thigh_pitch_joint" user="13" noise="1e-3" />
290
- <actuatorfrc name="left_knee_f" actuator="left_knee_joint" user="13" noise="1e-3" />
291
- <actuatorfrc name="left_ankle_pitch_f" actuator="left_ankle_pitch_joint" user="13" noise="1e-3" />
292
- <actuatorfrc name="left_ankle_roll_f" actuator="left_ankle_roll_joint" user="13" noise="1e-3" />
293
- <actuatorfrc name="right_thigh_yaw_f" actuator="right_thigh_yaw_joint" user="13" noise="1e-3" />
294
- <actuatorfrc name="right_thigh_roll_f" actuator="right_thigh_roll_joint" user="13" noise="1e-3" />
295
- <actuatorfrc name="right_thigh_pitch_f" actuator="right_thigh_pitch_joint" user="13" noise="1e-3" />
296
- <actuatorfrc name="right_knee_f" actuator="right_knee_joint" user="13" noise="1e-3" />
297
- <actuatorfrc name="right_ankle_pitch_f" actuator="right_ankle_pitch_joint" user="13" noise="1e-3" />
298
- <actuatorfrc name="right_ankle_roll_f" actuator="right_ankle_roll_joint" user="13" noise="1e-3" />
299
- <actuatorfrc name="torso_yaw_f" actuator="torso_joint" user="13" noise="1e-3" />
300
- <actuatorfrc name="left_arm_pitch_f" actuator="left_arm_pitch_joint" user="13" noise="1e-3" />
301
- <actuatorfrc name="left_arm_roll_f" actuator="left_arm_roll_joint" user="13" noise="1e-3" />
302
- <actuatorfrc name="left_arm_yaw_f" actuator="left_arm_yaw_joint" user="13" noise="1e-3" />
303
- <actuatorfrc name="left_elbow_pitch_f" actuator="left_elbow_pitch_joint" user="13" noise="1e-3" />
304
- <actuatorfrc name="left_elbow_yaw_f" actuator="left_elbow_yaw_joint" user="13" noise="1e-3" />
305
- <actuatorfrc name="right_arm_pitch_f" actuator="right_arm_pitch_joint" user="13" noise="1e-3" />
306
- <actuatorfrc name="right_arm_roll_f" actuator="right_arm_roll_joint" user="13" noise="1e-3" />
307
- <actuatorfrc name="right_arm_yaw_f" actuator="right_arm_yaw_joint" user="13" noise="1e-3" />
308
- <actuatorfrc name="right_elbow_pitch_f" actuator="right_elbow_pitch_joint" user="13" noise="1e-3" />
309
- <actuatorfrc name="right_elbow_yaw_f" actuator="right_elbow_yaw_joint" user="13" noise="1e-3" />
310
- <framequat name="orientation" objtype="site" noise="0.001" objname="imu" />
311
- <framepos name="position" objtype="site" noise="0.001" objname="imu" />
312
- <gyro name="angular-velocity" site="imu" noise="0.005" cutoff="34.9" />
313
- <velocimeter name="linear-velocity" site="imu" noise="0.001" cutoff="30" />
314
- <accelerometer name="linear-acceleration" site="imu" noise="0.005" cutoff="157" />
315
- <magnetometer name="magnetometer" site="imu" />
316
- </sensor>
317
  <visual>
318
  <global offwidth="1920" offheight="1080" />
319
  </visual>
 
212
  </body>
213
  </body>
214
  </worldbody>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
215
  <visual>
216
  <global offwidth="1920" offheight="1080" />
217
  </visual>
mjcf/atom01-mesh.xml CHANGED
@@ -210,108 +210,6 @@
210
  </body>
211
  </body>
212
  </worldbody>
213
- <actuator>
214
- <motor name="left_thigh_yaw_joint" joint="left_thigh_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
215
- <motor name="left_thigh_roll_joint" joint="left_thigh_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
216
- <motor name="left_thigh_pitch_joint" joint="left_thigh_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
217
- <motor name="left_knee_joint" joint="left_knee_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
218
- <motor name="left_ankle_pitch_joint" joint="left_ankle_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
219
- <motor name="left_ankle_roll_joint" joint="left_ankle_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
220
- <motor name="right_thigh_yaw_joint" joint="right_thigh_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
221
- <motor name="right_thigh_roll_joint" joint="right_thigh_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
222
- <motor name="right_thigh_pitch_joint" joint="right_thigh_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
223
- <motor name="right_knee_joint" joint="right_knee_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
224
- <motor name="right_ankle_pitch_joint" joint="right_ankle_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
225
- <motor name="right_ankle_roll_joint" joint="right_ankle_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
226
- <motor name="torso_joint" joint="torso_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
227
- <motor name="left_arm_pitch_joint" joint="left_arm_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
228
- <motor name="left_arm_roll_joint" joint="left_arm_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
229
- <motor name="left_arm_yaw_joint" joint="left_arm_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
230
- <motor name="left_elbow_pitch_joint" joint="left_elbow_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
231
- <motor name="left_elbow_yaw_joint" joint="left_elbow_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
232
- <motor name="right_arm_pitch_joint" joint="right_arm_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
233
- <motor name="right_arm_roll_joint" joint="right_arm_roll_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
234
- <motor name="right_arm_yaw_joint" joint="right_arm_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
235
- <motor name="right_elbow_pitch_joint" joint="right_elbow_pitch_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
236
- <motor name="right_elbow_yaw_joint" joint="right_elbow_yaw_joint" gear="1" ctrllimited="true" ctrlrange="-200 200" />
237
- </actuator>
238
- <sensor>
239
- <actuatorpos name="left_thigh_yaw_p" actuator="left_thigh_yaw_joint" user="13" />
240
- <actuatorpos name="left_thigh_roll_p" actuator="left_thigh_roll_joint" user="13" />
241
- <actuatorpos name="left_thigh_pitch_p" actuator="left_thigh_pitch_joint" user="13" />
242
- <actuatorpos name="left_knee_p" actuator="left_knee_joint" user="13" />
243
- <actuatorpos name="left_ankle_pitch_p" actuator="left_ankle_pitch_joint" user="13" />
244
- <actuatorpos name="left_ankle_roll_p" actuator="left_ankle_roll_joint" user="13" />
245
- <actuatorpos name="right_thigh_yaw_p" actuator="right_thigh_yaw_joint" user="13" />
246
- <actuatorpos name="right_thigh_roll_p" actuator="right_thigh_roll_joint" user="13" />
247
- <actuatorpos name="right_thigh_pitch_p" actuator="right_thigh_pitch_joint" user="13" />
248
- <actuatorpos name="right_knee_p" actuator="right_knee_joint" user="13" />
249
- <actuatorpos name="right_ankle_pitch_p" actuator="right_ankle_pitch_joint" user="13" />
250
- <actuatorpos name="right_ankle_roll_p" actuator="right_ankle_roll_joint" user="13" />
251
- <actuatorpos name="torso_yaw_p" actuator="torso_joint" user="13" />
252
- <actuatorpos name="left_arm_pitch_p" actuator="left_arm_pitch_joint" user="13" />
253
- <actuatorpos name="left_arm_roll_p" actuator="left_arm_roll_joint" user="13" />
254
- <actuatorpos name="left_arm_yaw_p" actuator="left_arm_yaw_joint" user="13" />
255
- <actuatorpos name="left_elbow_pitch_p" actuator="left_elbow_pitch_joint" user="13" />
256
- <actuatorpos name="left_elbow_yaw_p" actuator="left_elbow_yaw_joint" user="13" />
257
- <actuatorpos name="right_arm_pitch_p" actuator="right_arm_pitch_joint" user="13" />
258
- <actuatorpos name="right_arm_roll_p" actuator="right_arm_roll_joint" user="13" />
259
- <actuatorpos name="right_arm_yaw_p" actuator="right_arm_yaw_joint" user="13" />
260
- <actuatorpos name="right_elbow_pitch_p" actuator="right_elbow_pitch_joint" user="13" />
261
- <actuatorpos name="right_elbow_yaw_p" actuator="right_elbow_yaw_joint" user="13" />
262
- <actuatorvel name="left_thigh_yaw_v" actuator="left_thigh_yaw_joint" user="13" />
263
- <actuatorvel name="left_thigh_roll_v" actuator="left_thigh_roll_joint" user="13" />
264
- <actuatorvel name="left_thigh_pitch_v" actuator="left_thigh_pitch_joint" user="13" />
265
- <actuatorvel name="left_knee_v" actuator="left_knee_joint" user="13" />
266
- <actuatorvel name="left_ankle_pitch_v" actuator="left_ankle_pitch_joint" user="13" />
267
- <actuatorvel name="left_ankle_roll_v" actuator="left_ankle_roll_joint" user="13" />
268
- <actuatorvel name="right_thigh_yaw_v" actuator="right_thigh_yaw_joint" user="13" />
269
- <actuatorvel name="right_thigh_roll_v" actuator="right_thigh_roll_joint" user="13" />
270
- <actuatorvel name="right_thigh_pitch_v" actuator="right_thigh_pitch_joint" user="13" />
271
- <actuatorvel name="right_knee_v" actuator="right_knee_joint" user="13" />
272
- <actuatorvel name="right_ankle_pitch_v" actuator="right_ankle_pitch_joint" user="13" />
273
- <actuatorvel name="right_ankle_roll_v" actuator="right_ankle_roll_joint" user="13" />
274
- <actuatorvel name="torso_yaw_v" actuator="torso_joint" user="13" />
275
- <actuatorvel name="left_arm_pitch_v" actuator="left_arm_pitch_joint" user="13" />
276
- <actuatorvel name="left_arm_roll_v" actuator="left_arm_roll_joint" user="13" />
277
- <actuatorvel name="left_arm_yaw_v" actuator="left_arm_yaw_joint" user="13" />
278
- <actuatorvel name="left_elbow_pitch_v" actuator="left_elbow_pitch_joint" user="13" />
279
- <actuatorvel name="left_elbow_yaw_v" actuator="left_elbow_yaw_joint" user="13" />
280
- <actuatorvel name="right_arm_pitch_v" actuator="right_arm_pitch_joint" user="13" />
281
- <actuatorvel name="right_arm_roll_v" actuator="right_arm_roll_joint" user="13" />
282
- <actuatorvel name="right_arm_yaw_v" actuator="right_arm_yaw_joint" user="13" />
283
- <actuatorvel name="right_elbow_pitch_v" actuator="right_elbow_pitch_joint" user="13" />
284
- <actuatorvel name="right_elbow_yaw_v" actuator="right_elbow_yaw_joint" user="13" />
285
- <actuatorfrc name="left_thigh_yaw_f" actuator="left_thigh_yaw_joint" user="13" noise="1e-3" />
286
- <actuatorfrc name="left_thigh_roll_f" actuator="left_thigh_roll_joint" user="13" noise="1e-3" />
287
- <actuatorfrc name="left_thigh_pitch_f" actuator="left_thigh_pitch_joint" user="13" noise="1e-3" />
288
- <actuatorfrc name="left_knee_f" actuator="left_knee_joint" user="13" noise="1e-3" />
289
- <actuatorfrc name="left_ankle_pitch_f" actuator="left_ankle_pitch_joint" user="13" noise="1e-3" />
290
- <actuatorfrc name="left_ankle_roll_f" actuator="left_ankle_roll_joint" user="13" noise="1e-3" />
291
- <actuatorfrc name="right_thigh_yaw_f" actuator="right_thigh_yaw_joint" user="13" noise="1e-3" />
292
- <actuatorfrc name="right_thigh_roll_f" actuator="right_thigh_roll_joint" user="13" noise="1e-3" />
293
- <actuatorfrc name="right_thigh_pitch_f" actuator="right_thigh_pitch_joint" user="13" noise="1e-3" />
294
- <actuatorfrc name="right_knee_f" actuator="right_knee_joint" user="13" noise="1e-3" />
295
- <actuatorfrc name="right_ankle_pitch_f" actuator="right_ankle_pitch_joint" user="13" noise="1e-3" />
296
- <actuatorfrc name="right_ankle_roll_f" actuator="right_ankle_roll_joint" user="13" noise="1e-3" />
297
- <actuatorfrc name="torso_yaw_f" actuator="torso_joint" user="13" noise="1e-3" />
298
- <actuatorfrc name="left_arm_pitch_f" actuator="left_arm_pitch_joint" user="13" noise="1e-3" />
299
- <actuatorfrc name="left_arm_roll_f" actuator="left_arm_roll_joint" user="13" noise="1e-3" />
300
- <actuatorfrc name="left_arm_yaw_f" actuator="left_arm_yaw_joint" user="13" noise="1e-3" />
301
- <actuatorfrc name="left_elbow_pitch_f" actuator="left_elbow_pitch_joint" user="13" noise="1e-3" />
302
- <actuatorfrc name="left_elbow_yaw_f" actuator="left_elbow_yaw_joint" user="13" noise="1e-3" />
303
- <actuatorfrc name="right_arm_pitch_f" actuator="right_arm_pitch_joint" user="13" noise="1e-3" />
304
- <actuatorfrc name="right_arm_roll_f" actuator="right_arm_roll_joint" user="13" noise="1e-3" />
305
- <actuatorfrc name="right_arm_yaw_f" actuator="right_arm_yaw_joint" user="13" noise="1e-3" />
306
- <actuatorfrc name="right_elbow_pitch_f" actuator="right_elbow_pitch_joint" user="13" noise="1e-3" />
307
- <actuatorfrc name="right_elbow_yaw_f" actuator="right_elbow_yaw_joint" user="13" noise="1e-3" />
308
- <framequat name="orientation" objtype="site" noise="0.001" objname="imu" />
309
- <framepos name="position" objtype="site" noise="0.001" objname="imu" />
310
- <gyro name="angular-velocity" site="imu" noise="0.005" cutoff="34.9" />
311
- <velocimeter name="linear-velocity" site="imu" noise="0.001" cutoff="30" />
312
- <accelerometer name="linear-acceleration" site="imu" noise="0.005" cutoff="157" />
313
- <magnetometer name="magnetometer" site="imu" />
314
- </sensor>
315
  <visual>
316
  <global offwidth="1920" offheight="1080" />
317
  </visual>
 
210
  </body>
211
  </body>
212
  </worldbody>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
213
  <visual>
214
  <global offwidth="1920" offheight="1080" />
215
  </visual>