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update
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@madhephaestus
madhephaestus committed Dec 31, 2023
1 parent a6daf7d commit 3f5953e
Showing 1 changed file with 87 additions and 1 deletion.
88 changes: 87 additions & 1 deletion mujoco.xml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
<mujoco model="Marcos">
<option timestep="0.005"/>
<visual>
<map force="0.1" zfar="30"/>
<rgba haze="0.15 0.25 0.35 1"/>
Expand All @@ -23,6 +24,91 @@
</default>
<worldbody>
<geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
null
<body name="Marcos_base" pos="0.0 0.0 0.13843452850341798" childclass="body">
<freejoint name="root"/>
<geom name="Marcos_base_0" fromto="-5.893999862670898E-5 0.0 0.0 -0.09819106000137329 0.0 0.0" size="0.11787999725341797"/>
<geom name="Marcos_base_1" fromto="0.09819106000137329 0.0 0.0 5.893999862670898E-5 0.0 0.0" size="0.11787999725341797"/>
<body name="RightFront_basePan" pos="-0.01674999993383267 0.004627092321673633 -0.0015">
<joint name="RightFront_basePan" pos="0.0775 -0.04675 0.12" axis="0.0 0.0 -1.0" range="-34.019999999999996 84.10499999999999" />
<geom name="RightFront_basePan" fromto="0.006474372907678328 0.0 0.0 -0.039974372775343665 0.0 0.0" size="0.051254184643347266"/>
<body name="RightFront_baseTilt" pos="-0.02749957722410698 0.00525 2.7273185391862854E-8">
<joint name="RightFront_baseTilt" pos="0.030999999527843002 5.410520653713441E-6 0.005" axis="1.0 0.0 0.0" range="-85.05 85.05" />
<geom name="RightFront_baseTilt" fromto="0.008974750000000002 0.0 0.0 -0.06397390444821396 0.0 0.0" size="0.0505"/>
<body name="RightFront_elbow" pos="-0.021999873741076377 -0.011221080362917498 1.8261958050587169E-6">
<joint name="RightFront_elbow" pos="0.038890872965260115 -0.03889087296526011 0.0" axis="0.7071067811865475 -0.7071067811865475 0.0" range="-85.05 85.05" />
<geom name="RightFront_elbow" fromto="0.012978781299366282 0.0 0.0 -0.05697852878151904 0.0 0.0" size="0.04243740126743317"/>
</body>
</body>
</body>
<body name="LeftFront_basePan" pos="-0.01674999993383267 0.004999998605267862 -0.0015">
<joint name="LeftFront_basePan" pos="0.0775 0.04675 0.12" axis="0.0 0.0 -1.0" range="-85.05 35.91" />
<geom name="LeftFront_basePan" fromto="0.006474745813961924 0.0 0.0 -0.03997474568162726 0.0 0.0" size="0.050508372076158804"/>
<body name="LeftFront_baseTilt" pos="-0.02749957722410698 0.00525 2.7273185395415568E-8">
<joint name="LeftFront_baseTilt" pos="0.030999999527843002 5.410520653713441E-6 0.005" axis="1.0 0.0 0.0" range="-85.05 85.05" />
<geom name="LeftFront_baseTilt" fromto="0.008974750000000002 0.0 0.0 -0.06397390444821396 0.0 0.0" size="0.0505"/>
<body name="LeftFront_elbow" pos="-0.021999873741076377 -0.011221080362917498 1.804366651565914E-6">
<joint name="LeftFront_elbow" pos="0.038890872965260115 -0.03889087296526011 0.0" axis="0.7071067811865475 -0.7071067811865475 0.0" range="-85.05 85.05" />
<geom name="LeftFront_elbow" fromto="0.012978781299366282 0.0 0.0 -0.05697852878151904 0.0 0.0" size="0.04243740126743317"/>
</body>
</body>
</body>
<body name="RightRear_basePan" pos="-0.01675 0.004625000000000003 0.0015">
<joint name="RightRear_basePan" pos="-0.0775 -0.04675 0.12" axis="0.0 0.0 -1.0" range="-37.8 85.05" />
<geom name="RightRear_basePan" fromto="0.006474375 0.0 0.0 -0.039974375 0.0 0.0" size="0.05125"/>
<body name="RightRear_baseTilt" pos="-0.02749957722410698 0.00525 3.552713678800501E-18">
<joint name="RightRear_baseTilt" pos="0.031 0.0 0.005" axis="1.0 0.0 0.0" range="-85.05 85.05" />
<geom name="RightRear_baseTilt" fromto="0.008974750000000002 0.0 0.0 -0.06397390444821396 0.0 0.0" size="0.0505"/>
<body name="RightRear_elbow" pos="-0.021999873741076377 -0.011221080362917498 3.552713678800501E-18">
<joint name="RightRear_elbow" pos="0.038890872965260115 -0.03889087296526011 0.0" axis="0.7071067811865475 -0.7071067811865476 0.0" range="-85.05 85.05" />
<geom name="RightRear_elbow" fromto="0.012978781299366282 0.0 0.0 -0.05697852878151904 0.0 0.0" size="0.04243740126743317"/>
</body>
</body>
</body>
<body name="LeftRear_basePan" pos="-0.01674999993383267 0.004999998605267862 0.0015">
<joint name="LeftRear_basePan" pos="-0.0775 0.04675 0.12" axis="0.0 0.0 -1.0" range="-84.10499999999999 31.185" />
<geom name="LeftRear_basePan" fromto="0.006474745813961923 0.0 0.0 -0.03997474568162726 0.0 0.0" size="0.050508372076158804"/>
<body name="LeftRear_baseTilt" pos="-0.02749957722410698 0.00525 2.7273185395415568E-8">
<joint name="LeftRear_baseTilt" pos="0.030999999527843002 5.410520653713441E-6 0.005" axis="1.0 0.0 0.0" range="-85.05 85.05" />
<geom name="LeftRear_baseTilt" fromto="0.008974750000000002 0.0 0.0 -0.06397390444821396 0.0 0.0" size="0.0505"/>
<body name="LeftRear_elbow" pos="-0.021999873741076377 -0.011221080362917498 1.804366651565914E-6">
<joint name="LeftRear_elbow" pos="0.038890872965260115 -0.03889087296526011 0.0" axis="0.7071067811865475 -0.7071067811865475 0.0" range="-85.05 85.05" />
<geom name="LeftRear_elbow" fromto="0.012978781299366282 0.0 0.0 -0.05697852878151904 0.0 0.0" size="0.04243740126743317"/>
</body>
</body>
</body>
<body name="DummyLeftRear_basePan" pos="-0.02641249989471662 -0.005643865290534222 0.0015">
<joint name="DummyLeftRear_basePan" pos="-0.085 0.04025 0.137" axis="0.0 0.0 -1.0" range="-84.10499999999999 85.05" />
<geom name="DummyLeftRear_basePan" fromto="0.006473356134709467 0.0 0.0 -0.059298355924142704 0.0 0.0" size="0.05328773058106844"/>
</body>
<body name="DummyRightFront_basePan" pos="-0.02641249989471662 0.005643863944577763 -0.0015">
<joint name="DummyRightFront_basePan" pos="0.085 -0.04025 0.137" axis="0.0 0.0 -1.0" range="-85.05 84.10499999999999" />
<geom name="DummyRightFront_basePan" fromto="0.006473356136055423 0.0 0.0 -0.059298355925488655 0.0 0.0" size="0.05328772788915553"/>
</body>
<body name="DummyLeftFront_basePan" pos="-0.02641249989471662 0.010643863944577763 -0.0015">
<joint name="DummyLeftFront_basePan" pos="0.085 0.04025 0.137" axis="0.0 0.0 -1.0" range="-85.05 85.05" />
<geom name="DummyLeftFront_basePan" fromto="0.006478356136055425 0.0 0.0 -0.05930335592548866 0.0 0.0" size="0.043287727889155525"/>
</body>
<body name="DummyRightRear_basePan" pos="-0.026412500000000002 -0.010641756534576417 0.0015">
<joint name="DummyRightRear_basePan" pos="-0.085 -0.04025 0.137" axis="0.0 0.0 -1.0" range="-85.05 85.05" />
<geom name="DummyRightRear_basePan" fromto="0.006478358243465424 0.0 0.0 -0.05930335824346542 0.0 0.0" size="0.04328351306915283"/>
</body>
<body name="Head_tilt" pos="0.0 0.0 -0.004094785690307618">
<joint name="Head_tilt" pos="0.085 0.0 0.137" axis="1.0 0.0 0.0" range="-85.05 85.05" />
<geom name="Head_tilt" fromto="0.005988897537231446 0.0 0.0 -0.005988897537231446 0.0 0.0" size="0.02412085723876953"/>
<body name="Head_pan" pos="0.04213004375497949 0.0 0.012421456548968252">
<joint name="Head_pan" pos="0.0 0.0 0.0" axis="1.0 0.0 0.0" range="-70.875 63.315" />
<geom name="Head_pan" fromto="0.09803275601658129 0.0 0.0 -0.013772668506622315 0.0 0.0" size="0.0694262466430664"/>
</body>
</body>
<body name="Tail_basePan" pos="0.0 0.0 -0.004094785690307618">
<joint name="Tail_basePan" pos="-0.085 0.0 0.137" axis="-1.0 0.0 0.0" range="-85.05 85.05" />
<geom name="Tail_basePan" fromto="0.005988897537231446 0.0 0.0 -0.005988897537231446 0.0 0.0" size="0.02412085723876953"/>
<body name="Tail_baseTilt" pos="0.07153342161178589 0.0 0.006053571319580076">
<joint name="Tail_baseTilt" pos="0.0 0.0 0.0" axis="1.0 0.0 0.0" range="-85.05 85.05" />
<geom name="Tail_baseTilt" fromto="0.15686041748237609 0.0 0.0 -0.013793574258804321 0.0 0.0" size="0.027614742279052733"/>
</body>
</body>
</body>

</worldbody>
</mujoco>

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