File size: 2,635 Bytes
80dc52c | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 | <mujoco model="scene">
<include file="robot_allcollisions_backlash.xml" />
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0" />
<rgba haze="0.15 0.25 0.35 1" />
<global azimuth="160" elevation="-20" />
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
height="3072" />
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300" />
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5"
reflectance="0.2" />
</asset>
<worldbody>
<light pos="0 0 3.5" dir="0 0 -1" directional="true" />
<geom name="floor" size="0 0 0.05" pos="0 0 0" type="plane" material="groundplane" />
</worldbody>
<keyframe>
<!-- Backlash model: every servo joint is followed by its unactuated
passive_*_backlash hinge, so in qpos each servo value is trailed
by a 0 for the backlash joint (14 extra zeros, nq 21 -> 35).
ctrl is unchanged (14 actuators). -->
<key name="INIT" qpos="
0 0 0.12 1 0 0 0
0 0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0 0"
ctrl="0 0 0 0 0 0 0 0 0 0 0 0 0 0"/>
<!-- STAND2: trunk shifted ~5mm forward (CoM over ankle axis). Leg pitch
leaned forward vs old STAND: hip_pitch 30->26.24deg, ankle 30->25.95deg,
knee 0->0.28deg. -->
<key name="STAND" qpos="
0 0 0.12 1 0 0 0
0 0 -0.08726646259971647 0 -0.457924 0 -0.004940 0 0.452984 0
0.3490658503988659 0 0.3490658503988659 0 0 0 0 0
0 0 0.08726646259971647 0 0.457924 0 0.004940 0 -0.452984 0"
ctrl="
0 -0.08726646259971647 -0.457924 -0.004940 0.452984
0.3490658503988659 0.3490658503988659 0 0
0 0.08726646259971647 0.457924 0.004940 -0.452984"
/>
<key name="SIT" qpos="
0 0 0.07 1 0 0 0
0 0 0 0 -0.5236 0 1.0472 0 0 0
0.5 0 1.6 0 0 0 0 0
0 0 0 0 0.5236 0 -1.0472 0 0 0" ctrl="
0 0 -0.5236 1.0472 0
0.5 1.6 0 0 0
0 0.5236 -1.0472 0"/>
<key name="FOLD" qpos="
0 0 0.07 1 0 0 0
0 0 0 0 1.57 0 1.57 0 0 0
1 0 1 0 0 0 0 0
0 0 0 0 -1.57 0 -1.57 0 0 0" ctrl="
0 0 1.57 1.57 0
1 1 0 0
0 0 -1.57 -1.57 0"/>
</keyframe>
</mujoco> |