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Running
| <mujoco model="hopper"> | |
| <compiler angle="degree" coordinate="global" inertiafromgeom="true"/> | |
| <default> | |
| <joint armature="1" damping="1" limited="true"/> | |
| <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/> | |
| <motor ctrllimited="true" ctrlrange="-.4 .4"/> | |
| </default> | |
| <option integrator="RK4" timestep="0.002"/> | |
| <visual> | |
| <map znear="0.02"/> | |
| </visual> | |
| <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" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 .125" type="plane" material="MatPlane"/> | |
| <body name="torso" pos="0 0 1.25"> | |
| <camera name="track" mode="trackcom" pos="0 -3 1" 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="slide"/> | |
| <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/> | |
| <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/> | |
| <geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/> | |
| <body name="thigh" pos="0 0 1.05"> | |
| <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/> | |
| <geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/> | |
| <body name="leg" pos="0 0 0.35"> | |
| <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/> | |
| <geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/> | |
| <body name="foot" pos="0.13 0 0"> | |
| <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/> | |
| <geom friction="2.0" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </worldbody> | |
| <actuator> | |
| <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/> | |
| <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/> | |
| <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/> | |
| </actuator> | |
| <asset> | |
| <texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0" | |
| width="100" height="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> | |
| </mujoco> | |