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<mujoco model="ant">
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<default>
<joint type="hinge" armature="0.01" damping="0.0" limited="false"/>
<geom condim="3" friction="1 0.5 0.5" type="capsule" size="0.08" rgba="0.8 0.6 0.4 1"/>
</default>
<worldbody>
<body name="torso">
<freejoint/>
<geom fromto="-0.2 -0.2 0.0 0.2 0.2 0.0"/>
<geom fromto="0.2 -0.2 0.0 -0.2 0.2 0.0"/>
<body name="front_left_leg" pos="0.2 0.2 0">
<joint name="ankle_1" axis="-1 1 0"/>
<geom fromto="0.0 0.0 0.0 0.4 0.4 0.0"/>
</body>
<body name="front_right_leg" pos="-0.2 0.2 0">
<joint name="ankle_2" axis="1 1 0"/>
<geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0"/>
</body>
<body name="back_leg" pos="-0.2 -0.2 0">
<joint name="ankle_3" axis="-1 1 0"/>
<geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0"/>
</body>
<body name="right_back_leg" pos="0.2 -0.2 0">
<joint name="ankle_4" axis="1 1 0"/>
<geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0"/>
</body>
</body>
</worldbody>
</mujoco>
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