158 lines
15 KiB
XML
158 lines
15 KiB
XML
<mujoco model="wheelleg">
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<compiler angle="radian" meshdir="meshes/"/>
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<default>
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<geom margin="0"/>
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</default>
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<asset>
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<mesh name="base_link" content_type="model/stl" file="base_link.STL"/>
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<mesh name="fl_hip_abduction_Link" content_type="model/stl" file="fl_hip_abduction_Link.STL"/>
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<mesh name="fl_hip_pitch_Link" content_type="model/stl" file="fl_hip_pitch_Link.STL"/>
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<mesh name="fl_knee_Link" content_type="model/stl" file="fl_knee_Link.STL"/>
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<mesh name="fl_wheel_Link" content_type="model/stl" file="fl_wheel_Link.STL"/>
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<mesh name="fr_hip_abduction_Link" content_type="model/stl" file="fr_hip_abduction_Link.STL"/>
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<mesh name="fr_hip_pitch_Link" content_type="model/stl" file="fr_hip_pitch_Link.STL"/>
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<mesh name="fr_knee_Link" content_type="model/stl" file="fr_knee_Link.STL"/>
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<mesh name="fr_wheel_Link" content_type="model/stl" file="fr_wheel_Link.STL"/>
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<mesh name="rl_hip_abduction_Link" content_type="model/stl" file="rl_hip_abduction_Link.STL"/>
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<mesh name="rl_hip_pitch_Link" content_type="model/stl" file="rl_hip_pitch_Link.STL"/>
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<mesh name="rl_knee_Link" content_type="model/stl" file="rl_knee_Link.STL"/>
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<mesh name="rl_wheel_Link" content_type="model/stl" file="rl_wheel_Link.STL"/>
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<mesh name="rr_hip_abduction_Link" content_type="model/stl" file="rr_hip_abduction_Link.STL"/>
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<mesh name="rr_hip_pitch_Link" content_type="model/stl" file="rr_hip_pitch_Link.STL"/>
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<mesh name="rr_knee_Link" content_type="model/stl" file="rr_knee_Link.STL"/>
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<mesh name="rr_wheel_Link" content_type="model/stl" file="rr_wheel_Link.STL"/>
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</asset>
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<worldbody>
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<body name="base_link">
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<inertial pos="0.1517 0.0002 0.0542" mass="6.5377" fullinertia="0.0402 0.1689 0.1840 -0.0001 0.0000 0.0000"/>
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<joint type="free"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="base_link"/>
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<geom size="0.178 0.1175 0.073" pos="0.1518 0 0.054" type="box" rgba="0.75294 0.75294 0.75294 1"/>
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<body name="fl_hip_abduction_Link" pos="0.32826 0.066172 0.053981">
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<inertial pos="0.0488 -0.0026 0.0007" mass="0.63" fullinertia="0.0004 0.0007 0.0006 0.0000 0.0000 0.0000"/>
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<joint name="fl_hip_abduction_joint" pos="0 0 0" axis="1 0 0" range="-0.436 0.611" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fl_hip_abduction_Link"/>
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<body name="fl_hip_pitch_Link" pos="0.06389 -0.027344 0.00010727" quat="0.999997 -0.0025023 0 0">
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<inertial pos="0.0019 0.1119 -0.0480" mass="0.998" fullinertia="0.0066 0.0068 0.0011 0.0000 0.0000 0.0004"/>
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<joint name="fl_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.58 2.58" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fl_hip_pitch_Link"/>
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<geom size="0.046 0.048" pos="0 0.048 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
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<geom size="0.0435 0.0115 0.06" pos="0 0.1155 -0.06" type="box" rgba="0.75294 0.75294 0.75294 1"/>
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<body name="fl_knee_Link" pos="0 0.1035 -0.25" quat="0.999997 0.0025023 0 0">
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<inertial pos="0.0002 0.0242 -0.1539" mass="0.6965" fullinertia="0.0045 0.0048 0.0006 0.0000 0.0000 0.0002"/>
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<joint name="fl_knee_joint" pos="0 0 0" axis="0 1 0" range="-2.65 2.65" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fl_knee_Link"/>
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<geom size="0.0475 0.015" pos="0 0.025 -0.20011" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
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<geom size="0.015 0.0125 0.06" pos="0 0.0125 -0.09" type="box" rgba="0.75294 0.75294 0.75294 1"/>
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<body name="fl_wheel_Link" pos="0 0.014699 -0.20011">
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<inertial pos="-0.0002 0.0407 -0.0001" mass="0.5505" fullinertia="0.0017 0.0034 0.0017 0.0000 0.0000 0.0000"/>
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<joint name="fl_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fl_wheel_Link"/>
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<geom size="0.1 0.015" pos="0 0.04074 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
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</body>
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</body>
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</body>
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</body>
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<body name="fr_hip_abduction_Link" pos="0.32826 -0.065853 0.054034">
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<inertial pos="0.0488 0.0026 0.0008" mass="0.63" fullinertia="0.0004 0.0007 0.0006 0.0000 0.0000 0.0000"/>
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<joint name="fr_hip_abduction_joint" pos="0 0 0" axis="1 0 0" range="-0.611 0.436" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fr_hip_abduction_Link"/>
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<body name="fr_hip_pitch_Link" pos="0.06389 0.027311 -0.00036027" quat="0.999976 -0.00686995 0 0">
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<inertial pos="-0.0019 -0.1119 -0.048" mass="0.998" fullinertia="0.0066 0.0068 0.0011 0.0000 0.0000 0.0004"/>
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<joint name="fr_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.58 2.58" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fr_hip_pitch_Link"/>
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<geom size="0.046 0.048" pos="0 -0.048 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
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<geom size="0.0435 0.0115 0.06" pos="0 -0.1155 -0.06" type="box" rgba="0.75294 0.75294 0.75294 1"/>
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<body name="fr_knee_Link" pos="-0.00075079 -0.1035 -0.25" quat="0.999976 0.00686995 0 0">
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<inertial pos="-0.0002 -0.0242 -0.1539" mass="0.6965" fullinertia="0.0045 0.0048 0.0006 0.0000 0.0000 0.0002"/>
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<joint name="fr_knee_joint" pos="0 0 0" axis="0 1 0" range="-2.65 2.65" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fr_knee_Link"/>
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<geom size="0.0475 0.015" pos="0 -0.025 -0.1998" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
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<geom size="0.015 0.0125 0.06" pos="0 -0.0125 -0.09" type="box" rgba="0.75294 0.75294 0.75294 1"/>
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<body name="fr_wheel_Link" pos="0 -0.018447 -0.1998">
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<inertial pos="0.0002 -0.0407 -0.0001" mass="0.5505" fullinertia="0.0017 0.0034 0.0017 0.0000 0.0000 0.0000"/>
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<joint name="fr_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="fr_wheel_Link"/>
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<geom size="0.1 0.015" pos="0 -0.040735 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
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</body>
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</body>
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</body>
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</body>
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<body name="rl_hip_abduction_Link" pos="-0.024743 0.066141 0.054034">
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<inertial pos="-0.0488 -0.0026 -0.0007" mass="0.63" fullinertia="0.0004 0.0007 0.0006 0.0000 0.0000 0.0000"/>
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<joint name="rl_hip_abduction_joint" pos="0 0 0" axis="1 0 0" range="-0.436 0.611" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rl_hip_abduction_Link"/>
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<body name="rl_hip_pitch_Link" pos="-0.06389 -0.027309 0.00045509">
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<inertial pos="0.0019 0.1119 -0.048" mass="0.998" fullinertia="0.0066 0.0068 0.0011 0.0000 -0.0001 -0.0005"/>
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<joint name="rl_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.58 2.58" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rl_hip_pitch_Link"/>
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<geom size="0.046 0.048" pos="0 0.048 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
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<geom size="0.0435 0.0115 0.06" pos="0 0.1155 -0.06" type="box" rgba="0.75294 0.75294 0.75294 1"/>
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<body name="rl_knee_Link" pos="0 0.099459 -0.25163">
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<inertial pos="0.0002 0.0242 -0.1539" mass="0.6965" fullinertia="0.0045 0.0048 0.0006 0.0000 0.0000 -0.0003"/>
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<joint name="rl_knee_joint" pos="0 0 0" axis="0 1 0" range="-2.65 2.65" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rl_knee_Link"/>
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<geom size="0.0475 0.015" pos="0 0.025 -0.20027" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
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<geom size="0.015 0.0125 0.06" pos="0 0.0125 -0.09" type="box" rgba="0.75294 0.75294 0.75294 1"/>
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<body name="rl_wheel_Link" pos="0 0.012475 -0.20027">
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<inertial pos="-0.0002 0.0407 -0.0001" mass="0.5505" fullinertia="0.0017 0.0034 0.0017 0.0000 0.0000 0.0000"/>
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<joint name="rl_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rl_wheel_Link"/>
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<geom size="0.1 0.015" pos="0 0.040737 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
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</body>
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</body>
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</body>
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</body>
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<body name="rr_hip_abduction_Link" pos="-0.024743 -0.065884 0.053981">
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<inertial pos="-0.0488 0.0026 0.0008" mass="0.63" fullinertia="0.0004 0.0007 0.0006 0.0000 0.0000 0.0000"/>
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<joint name="rr_hip_abduction_joint" pos="0 0 0" axis="1 0 0" range="-0.611 0.436" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rr_hip_abduction_Link"/>
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<body name="rr_hip_pitch_Link" pos="-0.06389 0.027341 0.00041625">
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<inertial pos="-0.0020 -0.1111 -0.0498" mass="0.998" fullinertia="0.0066 0.0068 0.0011 0.0000 -0.0001 -0.0003"/>
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<joint name="rr_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.58 2.58" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rr_hip_pitch_Link"/>
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<geom size="0.046 0.048" pos="0 -0.048 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
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<geom size="0.0435 0.0115 0.06" pos="0 -0.1155 -0.06" type="box" rgba="0.75294 0.75294 0.75294 1"/>
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<body name="rr_knee_Link" pos="-0.00075079 -0.099408 -0.25165">
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<inertial pos="-0.0002 -0.0225 -0.1541" mass="0.6965" fullinertia="0.0045 0.0048 0.0006 0.0000 0.0000 -0.0002"/>
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<joint name="rr_knee_joint" pos="0 0 0" axis="0 1 0" range="-2.65 2.65" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rr_knee_Link"/>
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<geom size="0.0475 0.015" pos="0 -0.025 -0.20027" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
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<geom size="0.015 0.0125 0.06" pos="0 -0.0125 -0.09" type="box" rgba="0.75294 0.75294 0.75294 1"/>
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<body name="rr_wheel_Link" pos="0 -0.012435 -0.20027">
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<inertial pos="0.0002 -0.0407 -0.0005" mass="0.5505" fullinertia="0.0017 0.0034 0.0017 0.0000 0.0000 0.0000"/>
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<joint name="rr_wheel_joint" pos="0 0 0" axis="0 1 0" actuatorfrcrange="-17 17" damping="0.01" frictionloss="0.01" armature="0.0042"/>
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<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.75294 0.75294 0.75294 1" mesh="rr_wheel_Link"/>
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<geom size="0.1 0.015" pos="0 -0.040737 0" quat="0.707105 0.707108 0 0" type="cylinder" rgba="0.75294 0.75294 0.75294 1"/>
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</body>
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</body>
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</body>
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</body>
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<body name="imu_link" pos="0.1518 0 0.127">
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<inertial pos="0 0 0" mass="0" diaginertia="0 0 0"/>
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</body>
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</body>
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</worldbody>
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<actuator>
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<general name="fl_hip_abduction_joint" joint="fl_hip_abduction_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
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<general name="fl_hip_pitch_joint" joint="fl_hip_pitch_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
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<general name="fl_knee_joint" joint="fl_knee_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
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<general name="fl_wheel_joint" joint="fl_wheel_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="0.5"/>
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<general name="fr_hip_abduction_joint" joint="fr_hip_abduction_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
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<general name="fr_hip_pitch_joint" joint="fr_hip_pitch_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
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<general name="fr_knee_joint" joint="fr_knee_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
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<general name="fr_wheel_joint" joint="fr_wheel_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="0.5"/>
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<general name="rl_hip_abduction_joint" joint="rl_hip_abduction_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
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<general name="rl_hip_pitch_joint" joint="rl_hip_pitch_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
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<general name="rl_knee_joint" joint="rl_knee_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
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<general name="rl_wheel_joint" joint="rl_wheel_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="0.5"/>
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<general name="rr_hip_abduction_joint" joint="rr_hip_abduction_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
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<general name="rr_hip_pitch_joint" joint="rr_hip_pitch_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
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<general name="rr_knee_joint" joint="rr_knee_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="120" biasprm="0 -8 -8"/>
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<general name="rr_wheel_joint" joint="rr_wheel_joint" ctrlrange="-17 17" forcerange="-17 17" gainprm="0.5"/>
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</actuator>
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</mujoco>
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