dartpy 7.0.0.dev0__cp312-cp312-manylinux_2_39_x86_64.whl

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  1. dartpy-7.0.0.dev0.dist-info/METADATA +86 -0
  2. dartpy-7.0.0.dev0.dist-info/RECORD +994 -0
  3. dartpy-7.0.0.dev0.dist-info/WHEEL +5 -0
  4. dartpy-7.0.0.dev0.dist-info/licenses/LICENSE +31 -0
  5. dartpy.cpython-312-x86_64-linux-gnu.so +0 -0
  6. dartpy.libs/libBulletCollision-f96eb02c.so.3.25 +0 -0
  7. dartpy.libs/libBulletDynamics-3cff1f18.so.3.25 +0 -0
  8. dartpy.libs/libBulletSoftBody-220f01bd.so.3.25 +0 -0
  9. dartpy.libs/libLinearMath-71568d02.so.3.25 +0 -0
  10. dartpy.libs/libOpenThreads-8bc434db.so.3.3.1 +0 -0
  11. dartpy.libs/libSDL2-2-3db87ac0.0.so.0.3200.56 +0 -0
  12. dartpy.libs/libassimp-44cf3e77.so.5.4.3 +0 -0
  13. dartpy.libs/libccd-4f119cf4.so.2.0 +0 -0
  14. dartpy.libs/libconsole_bridge-f26e11cc.so.1.0 +0 -0
  15. dartpy.libs/libfcl-2607815a.so.0.7.0 +0 -0
  16. dartpy.libs/libfmt-277170bf.so.11.2.0 +0 -0
  17. dartpy.libs/libfontconfig-559ff509.so.1.14.0 +0 -0
  18. dartpy.libs/libfreetype-64806fc6.so.6.20.4 +0 -0
  19. dartpy.libs/libglfw-6f066845.so.3.4 +0 -0
  20. dartpy.libs/libimgui-ab87b07d.so +0 -0
  21. dartpy.libs/libnlopt-78f9bc34.so.1.0.0 +0 -0
  22. dartpy.libs/liboctomap-38e56f99.so.1.10.0 +0 -0
  23. dartpy.libs/liboctomath-bff26442.so.1.10.0 +0 -0
  24. dartpy.libs/libode-caca20fc.so.8.2.0 +0 -0
  25. dartpy.libs/libosg-e67375e5.so.3.6.5 +0 -0
  26. dartpy.libs/libosgDB-22ae780f.so.3.6.5 +0 -0
  27. dartpy.libs/libosgGA-6af4078b.so.3.6.5 +0 -0
  28. dartpy.libs/libosgManipulator-3270f659.so.3.6.5 +0 -0
  29. dartpy.libs/libosgShadow-127a8d77.so.3.6.5 +0 -0
  30. dartpy.libs/libosgText-87d82d87.so.3.6.5 +0 -0
  31. dartpy.libs/libosgUtil-55896958.so.3.6.5 +0 -0
  32. dartpy.libs/libosgViewer-76d832e3.so.3.6.5 +0 -0
  33. dartpy.libs/libpng16-bd65464e.so.16.50.0 +0 -0
  34. dartpy.libs/libtinyxml2-8d10763c.so.11.0.0 +0 -0
  35. dartpy.libs/liburdfdom_model-7b26ae88.so.4.0 +0 -0
  36. dartpy.libs/liburdfdom_model_state-95a5ad6e.so.4.0 +0 -0
  37. dartpy.libs/liburdfdom_sensor-55a145ea.so.4.0 +0 -0
  38. dartpy.libs/liburdfdom_world-a32c7194.so.4.0 +0 -0
  39. dartpy.libs/libvulkan-8caf1954.so.1.4.328 +0 -0
  40. include/dart/collision/CollisionDetector.hpp +305 -0
  41. include/dart/collision/CollisionFilter.hpp +126 -0
  42. include/dart/collision/CollisionGroup.hpp +546 -0
  43. include/dart/collision/CollisionObject.hpp +90 -0
  44. include/dart/collision/CollisionOption.hpp +71 -0
  45. include/dart/collision/CollisionResult.hpp +109 -0
  46. include/dart/collision/Contact.hpp +103 -0
  47. include/dart/collision/DistanceFilter.hpp +66 -0
  48. include/dart/collision/DistanceOption.hpp +80 -0
  49. include/dart/collision/DistanceResult.hpp +123 -0
  50. include/dart/collision/Option.hpp +42 -0
  51. include/dart/collision/RaycastOption.hpp +58 -0
  52. include/dart/collision/RaycastResult.hpp +80 -0
  53. include/dart/collision/Result.hpp +42 -0
  54. include/dart/collision/SmartPointer.hpp +51 -0
  55. include/dart/collision/all.hpp +17 -0
  56. include/dart/collision/bullet/BulletCollisionDetector.hpp +168 -0
  57. include/dart/collision/bullet/BulletCollisionGroup.hpp +98 -0
  58. include/dart/collision/bullet/BulletCollisionObject.hpp +75 -0
  59. include/dart/collision/bullet/BulletCollisionShape.hpp +62 -0
  60. include/dart/collision/bullet/BulletInclude.hpp +47 -0
  61. include/dart/collision/bullet/BulletTypes.hpp +57 -0
  62. include/dart/collision/bullet/all.hpp +8 -0
  63. include/dart/collision/bullet/bullet.hpp +14 -0
  64. include/dart/collision/bullet/detail/BulletCollisionDispatcher.hpp +70 -0
  65. include/dart/collision/bullet/detail/BulletOverlapFilterCallback.hpp +72 -0
  66. include/dart/collision/collision.hpp +14 -0
  67. include/dart/collision/dart/DARTCollide.hpp +106 -0
  68. include/dart/collision/dart/DARTCollisionDetector.hpp +109 -0
  69. include/dart/collision/dart/DARTCollisionGroup.hpp +82 -0
  70. include/dart/collision/dart/DARTCollisionObject.hpp +63 -0
  71. include/dart/collision/dart/all.hpp +6 -0
  72. include/dart/collision/dart/dart.hpp +14 -0
  73. include/dart/collision/detail/CollisionDetector.hpp +66 -0
  74. include/dart/collision/detail/CollisionGroup.hpp +287 -0
  75. include/dart/collision/detail/Contact-impl.hpp +56 -0
  76. include/dart/collision/detail/UnorderedPairs.hpp +153 -0
  77. include/dart/collision/fcl/BackwardCompatibility.hpp +145 -0
  78. include/dart/collision/fcl/CollisionShapes.hpp +374 -0
  79. include/dart/collision/fcl/FCLCollisionDetector.hpp +204 -0
  80. include/dart/collision/fcl/FCLCollisionGroup.hpp +95 -0
  81. include/dart/collision/fcl/FCLCollisionObject.hpp +72 -0
  82. include/dart/collision/fcl/FCLTypes.hpp +62 -0
  83. include/dart/collision/fcl/TriTriIntersectionTest.hpp +17 -0
  84. include/dart/collision/fcl/all.hpp +9 -0
  85. include/dart/collision/fcl/fcl.hpp +14 -0
  86. include/dart/collision/fcl/tri_tri_intersection_test.hpp +332 -0
  87. include/dart/collision/ode/OdeCollisionDetector.hpp +131 -0
  88. include/dart/collision/ode/OdeCollisionGroup.hpp +87 -0
  89. include/dart/collision/ode/OdeCollisionObject.hpp +89 -0
  90. include/dart/collision/ode/OdeTypes.hpp +51 -0
  91. include/dart/collision/ode/all.hpp +6 -0
  92. include/dart/collision/ode/detail/OdeBox.hpp +58 -0
  93. include/dart/collision/ode/detail/OdeCapsule.hpp +58 -0
  94. include/dart/collision/ode/detail/OdeCylinder.hpp +58 -0
  95. include/dart/collision/ode/detail/OdeGeom.hpp +83 -0
  96. include/dart/collision/ode/detail/OdeHeightmap-impl.hpp +170 -0
  97. include/dart/collision/ode/detail/OdeHeightmap.hpp +70 -0
  98. include/dart/collision/ode/detail/OdeMesh.hpp +83 -0
  99. include/dart/collision/ode/detail/OdePlane.hpp +67 -0
  100. include/dart/collision/ode/detail/OdeSphere.hpp +58 -0
  101. include/dart/collision/ode/ode.hpp +14 -0
  102. include/dart/common/Aspect.hpp +215 -0
  103. include/dart/common/AspectWithVersion.hpp +180 -0
  104. include/dart/common/CAllocator.hpp +65 -0
  105. include/dart/common/Castable.hpp +102 -0
  106. include/dart/common/ClassWithVirtualBase.hpp +47 -0
  107. include/dart/common/Cloneable.hpp +327 -0
  108. include/dart/common/Composite.hpp +205 -0
  109. include/dart/common/CompositeJoiner.hpp +160 -0
  110. include/dart/common/Console.hpp +75 -0
  111. include/dart/common/Deprecated.hpp +126 -0
  112. include/dart/common/EmbeddedAspect.hpp +466 -0
  113. include/dart/common/Empty.hpp +55 -0
  114. include/dart/common/Factory.hpp +146 -0
  115. include/dart/common/Filesystem.hpp +112 -0
  116. include/dart/common/FreeListAllocator.hpp +162 -0
  117. include/dart/common/IncludeWindows.hpp +50 -0
  118. include/dart/common/LocalResource.hpp +76 -0
  119. include/dart/common/LocalResourceRetriever.hpp +63 -0
  120. include/dart/common/LockableReference.hpp +166 -0
  121. include/dart/common/Logging.hpp +146 -0
  122. include/dart/common/Macros.hpp +78 -0
  123. include/dart/common/Memory.hpp +215 -0
  124. include/dart/common/MemoryAllocator.hpp +120 -0
  125. include/dart/common/MemoryAllocatorDebugger.hpp +98 -0
  126. include/dart/common/MemoryManager.hpp +189 -0
  127. include/dart/common/Metaprogramming.hpp +68 -0
  128. include/dart/common/NameManager.hpp +184 -0
  129. include/dart/common/Observer.hpp +85 -0
  130. include/dart/common/Optional.hpp +48 -0
  131. include/dart/common/Platform.hpp +92 -0
  132. include/dart/common/PoolAllocator.hpp +141 -0
  133. include/dart/common/Profile.hpp +56 -0
  134. include/dart/common/ProxyAspect.hpp +93 -0
  135. include/dart/common/RequiresAspect.hpp +79 -0
  136. include/dart/common/Resource.hpp +96 -0
  137. include/dart/common/ResourceRetriever.hpp +82 -0
  138. include/dart/common/SharedLibrary.hpp +201 -0
  139. include/dart/common/Signal.hpp +250 -0
  140. include/dart/common/Singleton.hpp +85 -0
  141. include/dart/common/SmartPointer.hpp +63 -0
  142. include/dart/common/SpecializedForAspect.hpp +207 -0
  143. include/dart/common/StlAllocator.hpp +111 -0
  144. include/dart/common/StlHelpers.hpp +61 -0
  145. include/dart/common/Stopwatch.hpp +143 -0
  146. include/dart/common/String.hpp +71 -0
  147. include/dart/common/SubPtr.hpp +17 -0
  148. include/dart/common/Subject.hpp +84 -0
  149. include/dart/common/Timer.hpp +119 -0
  150. include/dart/common/Uri.hpp +229 -0
  151. include/dart/common/VersionCounter.hpp +68 -0
  152. include/dart/common/Virtual.hpp +51 -0
  153. include/dart/common/all.hpp +53 -0
  154. include/dart/common/common.hpp +14 -0
  155. include/dart/common/detail/Aspect.hpp +102 -0
  156. include/dart/common/detail/AspectWithVersion.hpp +455 -0
  157. include/dart/common/detail/Castable-impl.hpp +109 -0
  158. include/dart/common/detail/Cloneable.hpp +638 -0
  159. include/dart/common/detail/Composite.hpp +241 -0
  160. include/dart/common/detail/CompositeData.hpp +393 -0
  161. include/dart/common/detail/CompositeJoiner.hpp +128 -0
  162. include/dart/common/detail/ConnectionBody.hpp +157 -0
  163. include/dart/common/detail/EmbeddedAspect.hpp +487 -0
  164. include/dart/common/detail/Factory-impl.hpp +200 -0
  165. include/dart/common/detail/LockableReference-impl.hpp +156 -0
  166. include/dart/common/detail/Logging-impl.hpp +162 -0
  167. include/dart/common/detail/Memory-impl.hpp +66 -0
  168. include/dart/common/detail/MemoryAllocator-impl.hpp +97 -0
  169. include/dart/common/detail/MemoryAllocatorDebugger-impl.hpp +201 -0
  170. include/dart/common/detail/MemoryManager-impl.hpp +102 -0
  171. include/dart/common/detail/Metaprogramming-impl.hpp +89 -0
  172. include/dart/common/detail/NameManager.hpp +301 -0
  173. include/dart/common/detail/NoOp.hpp +57 -0
  174. include/dart/common/detail/ProxyAspect.hpp +172 -0
  175. include/dart/common/detail/RequiresAspect.hpp +51 -0
  176. include/dart/common/detail/SharedLibraryManager.hpp +106 -0
  177. include/dart/common/detail/Signal.hpp +242 -0
  178. include/dart/common/detail/Singleton-impl.hpp +74 -0
  179. include/dart/common/detail/SpecializedForAspect.hpp +331 -0
  180. include/dart/common/detail/StlAllocator-impl.hpp +108 -0
  181. include/dart/common/detail/Stopwatch-impl.hpp +242 -0
  182. include/dart/common/detail/SubPtr.hpp +17 -0
  183. include/dart/common/detail/TemplateJoinerDispatchMacro.hpp +59 -0
  184. include/dart/common/detail/sub_ptr.hpp +139 -0
  185. include/dart/common/sub_ptr.hpp +103 -0
  186. include/dart/config.hpp +100 -0
  187. include/dart/constraint/BalanceConstraint.hpp +202 -0
  188. include/dart/constraint/BallJointConstraint.hpp +142 -0
  189. include/dart/constraint/BoxedLcpConstraintSolver.hpp +182 -0
  190. include/dart/constraint/BoxedLcpSolver.hpp +101 -0
  191. include/dart/constraint/ConstrainedGroup.hpp +120 -0
  192. include/dart/constraint/ConstraintBase.hpp +141 -0
  193. include/dart/constraint/ConstraintSolver.hpp +325 -0
  194. include/dart/constraint/ContactConstraint.hpp +286 -0
  195. include/dart/constraint/ContactSurface.hpp +191 -0
  196. include/dart/constraint/DantzigBoxedLcpSolver.hpp +71 -0
  197. include/dart/constraint/DantzigLCPSolver.hpp +87 -0
  198. include/dart/constraint/DynamicJointConstraint.hpp +120 -0
  199. include/dart/constraint/JointConstraint.hpp +182 -0
  200. include/dart/constraint/JointCoulombFrictionConstraint.hpp +149 -0
  201. include/dart/constraint/JointLimitConstraint.hpp +185 -0
  202. include/dart/constraint/LCPSolver.hpp +71 -0
  203. include/dart/constraint/MimicMotorConstraint.hpp +164 -0
  204. include/dart/constraint/PGSLCPSolver.hpp +109 -0
  205. include/dart/constraint/PgsBoxedLcpSolver.hpp +106 -0
  206. include/dart/constraint/ServoMotorConstraint.hpp +151 -0
  207. include/dart/constraint/SmartPointer.hpp +69 -0
  208. include/dart/constraint/SoftContactConstraint.hpp +262 -0
  209. include/dart/constraint/WeldJointConstraint.hpp +133 -0
  210. include/dart/constraint/all.hpp +25 -0
  211. include/dart/constraint/constraint.hpp +14 -0
  212. include/dart/constraint/detail/ConstraintSolver-impl.hpp +78 -0
  213. include/dart/dart.hpp +44 -0
  214. include/dart/dynamics/ArrowShape.hpp +121 -0
  215. include/dart/dynamics/AssimpInputResourceAdaptor.hpp +129 -0
  216. include/dart/dynamics/BallJoint.hpp +143 -0
  217. include/dart/dynamics/BodyNode.hpp +1279 -0
  218. include/dart/dynamics/BoxShape.hpp +90 -0
  219. include/dart/dynamics/Branch.hpp +107 -0
  220. include/dart/dynamics/CapsuleShape.hpp +105 -0
  221. include/dart/dynamics/Chain.hpp +142 -0
  222. include/dart/dynamics/CompositeNode.hpp +114 -0
  223. include/dart/dynamics/ConeShape.hpp +107 -0
  224. include/dart/dynamics/CylinderShape.hpp +96 -0
  225. include/dart/dynamics/DegreeOfFreedom.hpp +415 -0
  226. include/dart/dynamics/EllipsoidShape.hpp +115 -0
  227. include/dart/dynamics/EndEffector.hpp +158 -0
  228. include/dart/dynamics/Entity.hpp +258 -0
  229. include/dart/dynamics/EntityNode.hpp +77 -0
  230. include/dart/dynamics/EulerJoint.hpp +174 -0
  231. include/dart/dynamics/FixedFrame.hpp +105 -0
  232. include/dart/dynamics/FixedJacobianNode.hpp +168 -0
  233. include/dart/dynamics/Frame.hpp +388 -0
  234. include/dart/dynamics/FreeJoint.hpp +369 -0
  235. include/dart/dynamics/GenericJoint.hpp +825 -0
  236. include/dart/dynamics/Group.hpp +270 -0
  237. include/dart/dynamics/HeightmapShape.hpp +195 -0
  238. include/dart/dynamics/HierarchicalIK.hpp +419 -0
  239. include/dart/dynamics/IkFast.hpp +277 -0
  240. include/dart/dynamics/Inertia.hpp +176 -0
  241. include/dart/dynamics/InvalidIndex.hpp +46 -0
  242. include/dart/dynamics/InverseKinematics.hpp +1401 -0
  243. include/dart/dynamics/JacobianNode.hpp +312 -0
  244. include/dart/dynamics/Joint.hpp +1128 -0
  245. include/dart/dynamics/LineSegmentShape.hpp +140 -0
  246. include/dart/dynamics/Linkage.hpp +246 -0
  247. include/dart/dynamics/Marker.hpp +126 -0
  248. include/dart/dynamics/MeshShape.hpp +225 -0
  249. include/dart/dynamics/MetaSkeleton.hpp +1034 -0
  250. include/dart/dynamics/MimicDofProperties.hpp +62 -0
  251. include/dart/dynamics/MultiSphereConvexHullShape.hpp +111 -0
  252. include/dart/dynamics/MultiSphereShape.hpp +42 -0
  253. include/dart/dynamics/Node.hpp +273 -0
  254. include/dart/dynamics/NodeManagerJoiner.hpp +190 -0
  255. include/dart/dynamics/PlanarJoint.hpp +161 -0
  256. include/dart/dynamics/PlaneShape.hpp +105 -0
  257. include/dart/dynamics/PointCloudShape.hpp +186 -0
  258. include/dart/dynamics/PointMass.hpp +709 -0
  259. include/dart/dynamics/PrismaticJoint.hpp +120 -0
  260. include/dart/dynamics/PyramidShape.hpp +122 -0
  261. include/dart/dynamics/ReferentialSkeleton.hpp +550 -0
  262. include/dart/dynamics/RevoluteJoint.hpp +120 -0
  263. include/dart/dynamics/ScrewJoint.hpp +126 -0
  264. include/dart/dynamics/Shape.hpp +231 -0
  265. include/dart/dynamics/ShapeFrame.hpp +291 -0
  266. include/dart/dynamics/ShapeNode.hpp +134 -0
  267. include/dart/dynamics/SharedLibraryIkFast.hpp +147 -0
  268. include/dart/dynamics/SimpleFrame.hpp +247 -0
  269. include/dart/dynamics/Skeleton.hpp +1350 -0
  270. include/dart/dynamics/SmartPointer.hpp +185 -0
  271. include/dart/dynamics/SoftBodyNode.hpp +472 -0
  272. include/dart/dynamics/SoftMeshShape.hpp +100 -0
  273. include/dart/dynamics/SpecializedNodeManager.hpp +230 -0
  274. include/dart/dynamics/SphereShape.hpp +89 -0
  275. include/dart/dynamics/TemplatedJacobianNode.hpp +128 -0
  276. include/dart/dynamics/TranslationalJoint.hpp +105 -0
  277. include/dart/dynamics/TranslationalJoint2D.hpp +156 -0
  278. include/dart/dynamics/UniversalJoint.hpp +128 -0
  279. include/dart/dynamics/VoxelGridShape.hpp +171 -0
  280. include/dart/dynamics/WeldJoint.hpp +116 -0
  281. include/dart/dynamics/ZeroDofJoint.hpp +562 -0
  282. include/dart/dynamics/all.hpp +69 -0
  283. include/dart/dynamics/detail/BasicNodeManager.hpp +539 -0
  284. include/dart/dynamics/detail/BodyNode.hpp +344 -0
  285. include/dart/dynamics/detail/BodyNodeAspect.hpp +177 -0
  286. include/dart/dynamics/detail/BodyNodePtr.hpp +351 -0
  287. include/dart/dynamics/detail/CompositeNode.hpp +93 -0
  288. include/dart/dynamics/detail/DegreeOfFreedomPtr.hpp +338 -0
  289. include/dart/dynamics/detail/EndEffectorAspect.hpp +106 -0
  290. include/dart/dynamics/detail/EntityNode.hpp +81 -0
  291. include/dart/dynamics/detail/EntityNodeAspect.hpp +101 -0
  292. include/dart/dynamics/detail/EulerJointAspect.hpp +93 -0
  293. include/dart/dynamics/detail/FixedFrameAspect.hpp +58 -0
  294. include/dart/dynamics/detail/FixedJacobianNode.hpp +55 -0
  295. include/dart/dynamics/detail/GenericJoint.hpp +2471 -0
  296. include/dart/dynamics/detail/GenericJointAspect.hpp +353 -0
  297. include/dart/dynamics/detail/HeightmapShape-impl.hpp +243 -0
  298. include/dart/dynamics/detail/InverseKinematics.hpp +83 -0
  299. include/dart/dynamics/detail/InverseKinematicsPtr.hpp +341 -0
  300. include/dart/dynamics/detail/JointAspect.hpp +161 -0
  301. include/dart/dynamics/detail/JointPtr.hpp +293 -0
  302. include/dart/dynamics/detail/MarkerAspect.hpp +68 -0
  303. include/dart/dynamics/detail/MetaSkeleton-impl.hpp +151 -0
  304. include/dart/dynamics/detail/Node.hpp +532 -0
  305. include/dart/dynamics/detail/NodeManagerJoiner.hpp +184 -0
  306. include/dart/dynamics/detail/NodePtr.hpp +259 -0
  307. include/dart/dynamics/detail/PlanarJointAspect.hpp +136 -0
  308. include/dart/dynamics/detail/PrismaticJointAspect.hpp +85 -0
  309. include/dart/dynamics/detail/RevoluteJointAspect.hpp +86 -0
  310. include/dart/dynamics/detail/ScrewJointAspect.hpp +90 -0
  311. include/dart/dynamics/detail/ShapeFrameAspect.hpp +169 -0
  312. include/dart/dynamics/detail/ShapeNode.hpp +51 -0
  313. include/dart/dynamics/detail/Skeleton.hpp +92 -0
  314. include/dart/dynamics/detail/SkeletonAspect.hpp +181 -0
  315. include/dart/dynamics/detail/SoftBodyNodeAspect.hpp +132 -0
  316. include/dart/dynamics/detail/SpecializedNodeManager.hpp +324 -0
  317. include/dart/dynamics/detail/TemplatedJacobianNode.hpp +294 -0
  318. include/dart/dynamics/detail/TranslationalJoint2DAspect.hpp +140 -0
  319. include/dart/dynamics/detail/UniversalJointAspect.hpp +86 -0
  320. include/dart/dynamics/dynamics.hpp +14 -0
  321. include/dart/dynamics/ikfast.h +345 -0
  322. include/dart/external/convhull_3d/convhull_3d.h +1878 -0
  323. include/dart/external/convhull_3d/safe_convhull_3d.h +53 -0
  324. include/dart/external/odelcpsolver/common.h +418 -0
  325. include/dart/external/odelcpsolver/error.h +62 -0
  326. include/dart/external/odelcpsolver/lcp.h +75 -0
  327. include/dart/external/odelcpsolver/matrix.h +277 -0
  328. include/dart/external/odelcpsolver/misc.h +82 -0
  329. include/dart/external/odelcpsolver/odeconfig.h +110 -0
  330. include/dart/gui/osg/DefaultEventHandler.hpp +237 -0
  331. include/dart/gui/osg/DragAndDrop.hpp +360 -0
  332. include/dart/gui/osg/GridVisual.hpp +218 -0
  333. include/dart/gui/osg/ImGuiHandler.hpp +113 -0
  334. include/dart/gui/osg/ImGuiViewer.hpp +83 -0
  335. include/dart/gui/osg/ImGuiWidget.hpp +91 -0
  336. include/dart/gui/osg/IncludeImGui.hpp +75 -0
  337. include/dart/gui/osg/InteractiveFrame.hpp +170 -0
  338. include/dart/gui/osg/MouseEventHandler.hpp +76 -0
  339. include/dart/gui/osg/RealTimeWorldNode.hpp +126 -0
  340. include/dart/gui/osg/ShapeFrameNode.hpp +117 -0
  341. include/dart/gui/osg/SupportPolygonVisual.hpp +202 -0
  342. include/dart/gui/osg/TrackballManipulator.hpp +97 -0
  343. include/dart/gui/osg/Utils.hpp +120 -0
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  883. share/doc/dart/examples/hardcoded_design/HardcodedEventHandler.hpp +56 -0
  884. share/doc/dart/examples/hardcoded_design/README.md +27 -0
  885. share/doc/dart/examples/hardcoded_design/main.cpp +186 -0
  886. share/doc/dart/examples/heightmap/CMakeLists.txt +19 -0
  887. share/doc/dart/examples/heightmap/README.md +20 -0
  888. share/doc/dart/examples/heightmap/main.cpp +460 -0
  889. share/doc/dart/examples/hello_world/CMakeLists.txt +19 -0
  890. share/doc/dart/examples/hello_world/README.md +20 -0
  891. share/doc/dart/examples/hello_world/main.cpp +114 -0
  892. share/doc/dart/examples/hubo_puppet/CMakeLists.txt +19 -0
  893. share/doc/dart/examples/hubo_puppet/README.md +20 -0
  894. share/doc/dart/examples/hubo_puppet/main.cpp +1464 -0
  895. share/doc/dart/examples/human_joint_limits/CMakeLists.txt +49 -0
  896. share/doc/dart/examples/human_joint_limits/HumanArmJointLimitConstraint.cpp +411 -0
  897. share/doc/dart/examples/human_joint_limits/HumanArmJointLimitConstraint.hpp +182 -0
  898. share/doc/dart/examples/human_joint_limits/HumanLegJointLimitConstraint.cpp +432 -0
  899. share/doc/dart/examples/human_joint_limits/HumanLegJointLimitConstraint.hpp +179 -0
  900. share/doc/dart/examples/human_joint_limits/main.cpp +157 -0
  901. share/doc/dart/examples/hybrid_dynamics/CMakeLists.txt +19 -0
  902. share/doc/dart/examples/hybrid_dynamics/README.md +17 -0
  903. share/doc/dart/examples/hybrid_dynamics/main.cpp +187 -0
  904. share/doc/dart/examples/imgui/CMakeLists.txt +19 -0
  905. share/doc/dart/examples/imgui/README.md +20 -0
  906. share/doc/dart/examples/imgui/main.cpp +289 -0
  907. share/doc/dart/examples/joint_constraints/CMakeLists.txt +19 -0
  908. share/doc/dart/examples/joint_constraints/Controller.cpp +110 -0
  909. share/doc/dart/examples/joint_constraints/Controller.hpp +105 -0
  910. share/doc/dart/examples/joint_constraints/README.md +22 -0
  911. share/doc/dart/examples/joint_constraints/main.cpp +242 -0
  912. share/doc/dart/examples/mixed_chain/CMakeLists.txt +19 -0
  913. share/doc/dart/examples/mixed_chain/README.md +35 -0
  914. share/doc/dart/examples/mixed_chain/main.cpp +188 -0
  915. share/doc/dart/examples/operational_space_control/CMakeLists.txt +19 -0
  916. share/doc/dart/examples/operational_space_control/README.md +20 -0
  917. share/doc/dart/examples/operational_space_control/main.cpp +338 -0
  918. share/doc/dart/examples/point_cloud/CMakeLists.txt +19 -0
  919. share/doc/dart/examples/point_cloud/README.md +20 -0
  920. share/doc/dart/examples/point_cloud/main.cpp +740 -0
  921. share/doc/dart/examples/rerun/CMakeLists.txt +19 -0
  922. share/doc/dart/examples/rigid_chain/CMakeLists.txt +19 -0
  923. share/doc/dart/examples/rigid_chain/README.md +19 -0
  924. share/doc/dart/examples/rigid_chain/main.cpp +110 -0
  925. share/doc/dart/examples/rigid_cubes/CMakeLists.txt +19 -0
  926. share/doc/dart/examples/rigid_cubes/README.md +91 -0
  927. share/doc/dart/examples/rigid_cubes/main.cpp +201 -0
  928. share/doc/dart/examples/rigid_loop/CMakeLists.txt +19 -0
  929. share/doc/dart/examples/rigid_loop/README.md +34 -0
  930. share/doc/dart/examples/rigid_loop/main.cpp +127 -0
  931. share/doc/dart/examples/rigid_shapes/CMakeLists.txt +19 -0
  932. share/doc/dart/examples/rigid_shapes/README.md +19 -0
  933. share/doc/dart/examples/rigid_shapes/main.cpp +250 -0
  934. share/doc/dart/examples/simple_frames/CMakeLists.txt +19 -0
  935. share/doc/dart/examples/simple_frames/README.md +27 -0
  936. share/doc/dart/examples/simple_frames/main.cpp +124 -0
  937. share/doc/dart/examples/simulation_event_handler/CMakeLists.txt +19 -0
  938. share/doc/dart/examples/simulation_event_handler/README.md +189 -0
  939. share/doc/dart/examples/simulation_event_handler/SimulationEventHandler.cpp +572 -0
  940. share/doc/dart/examples/simulation_event_handler/SimulationEventHandler.hpp +211 -0
  941. share/doc/dart/examples/simulation_event_handler/main.cpp +277 -0
  942. share/doc/dart/examples/soft_bodies/CMakeLists.txt +19 -0
  943. share/doc/dart/examples/soft_bodies/README.md +20 -0
  944. share/doc/dart/examples/soft_bodies/main.cpp +219 -0
  945. share/doc/dart/examples/speed_test/CMakeLists.txt +19 -0
  946. share/doc/dart/examples/speed_test/README.md +20 -0
  947. share/doc/dart/examples/speed_test/main.cpp +250 -0
  948. share/doc/dart/examples/tinkertoy/CMakeLists.txt +19 -0
  949. share/doc/dart/examples/tinkertoy/README.md +20 -0
  950. share/doc/dart/examples/tinkertoy/TinkertoyWidget.cpp +208 -0
  951. share/doc/dart/examples/tinkertoy/TinkertoyWidget.hpp +70 -0
  952. share/doc/dart/examples/tinkertoy/TinkertoyWorldNode.cpp +35 -0
  953. share/doc/dart/examples/tinkertoy/TinkertoyWorldNode.hpp +470 -0
  954. share/doc/dart/examples/tinkertoy/main.cpp +186 -0
  955. share/doc/dart/examples/vehicle/CMakeLists.txt +19 -0
  956. share/doc/dart/examples/vehicle/README.md +22 -0
  957. share/doc/dart/examples/vehicle/main.cpp +195 -0
  958. share/doc/dart/examples/wam_ikfast/CMakeLists.txt +22 -0
  959. share/doc/dart/examples/wam_ikfast/Helpers.cpp +148 -0
  960. share/doc/dart/examples/wam_ikfast/Helpers.hpp +46 -0
  961. share/doc/dart/examples/wam_ikfast/InputHandler.cpp +110 -0
  962. share/doc/dart/examples/wam_ikfast/InputHandler.hpp +73 -0
  963. share/doc/dart/examples/wam_ikfast/README.md +20 -0
  964. share/doc/dart/examples/wam_ikfast/WamWorld.cpp +46 -0
  965. share/doc/dart/examples/wam_ikfast/WamWorld.hpp +53 -0
  966. share/doc/dart/examples/wam_ikfast/ikfast/CMakeLists.txt +11 -0
  967. share/doc/dart/examples/wam_ikfast/ikfast/ikfast71.Transform6D.4_6_9_10_11_12_f8.cpp +14930 -0
  968. share/doc/dart/examples/wam_ikfast/osgWamIkFast.cpp +96 -0
  969. share/doc/dart/tutorials/CMakeLists.txt +12 -0
  970. share/doc/dart/tutorials/README.md +45 -0
  971. share/doc/dart/tutorials/tutorial_biped/CMakeLists.txt +19 -0
  972. share/doc/dart/tutorials/tutorial_biped/README +18 -0
  973. share/doc/dart/tutorials/tutorial_biped/main.cpp +374 -0
  974. share/doc/dart/tutorials/tutorial_biped_finished/CMakeLists.txt +19 -0
  975. share/doc/dart/tutorials/tutorial_biped_finished/README +18 -0
  976. share/doc/dart/tutorials/tutorial_biped_finished/main.cpp +532 -0
  977. share/doc/dart/tutorials/tutorial_collisions/CMakeLists.txt +19 -0
  978. share/doc/dart/tutorials/tutorial_collisions/README +18 -0
  979. share/doc/dart/tutorials/tutorial_collisions/main.cpp +506 -0
  980. share/doc/dart/tutorials/tutorial_collisions_finished/CMakeLists.txt +19 -0
  981. share/doc/dart/tutorials/tutorial_collisions_finished/README +18 -0
  982. share/doc/dart/tutorials/tutorial_collisions_finished/main.cpp +679 -0
  983. share/doc/dart/tutorials/tutorial_dominoes/CMakeLists.txt +19 -0
  984. share/doc/dart/tutorials/tutorial_dominoes/README +18 -0
  985. share/doc/dart/tutorials/tutorial_dominoes/main.cpp +394 -0
  986. share/doc/dart/tutorials/tutorial_dominoes_finished/CMakeLists.txt +19 -0
  987. share/doc/dart/tutorials/tutorial_dominoes_finished/README +18 -0
  988. share/doc/dart/tutorials/tutorial_dominoes_finished/main.cpp +559 -0
  989. share/doc/dart/tutorials/tutorial_multi_pendulum/CMakeLists.txt +19 -0
  990. share/doc/dart/tutorials/tutorial_multi_pendulum/README +18 -0
  991. share/doc/dart/tutorials/tutorial_multi_pendulum/main.cpp +443 -0
  992. share/doc/dart/tutorials/tutorial_multi_pendulum_finished/CMakeLists.txt +19 -0
  993. share/doc/dart/tutorials/tutorial_multi_pendulum_finished/README +18 -0
  994. share/doc/dart/tutorials/tutorial_multi_pendulum_finished/main.cpp +512 -0
share/doc/dart/data/etc/fort.4 ADDED
@@ -0,0 +1,43 @@
1
+ Begin Problem fort.4
2
+
3
+ * Printing
4
+ * (These are the default values: to change, uncomment and set.)
5
+ * Major Print level 1
6
+ * Minor Print level 0
7
+ * Summary frequency 1
8
+ * Print frequency 1
9
+ * Summary level 0
10
+ * Solution Yes
11
+
12
+ * QP subproblems
13
+ Iterations limit 1000000
14
+ Elastic Mode 2
15
+ Elastic Weight 1.e+4
16
+
17
+ * SQP Method
18
+ Major iterations limit 100
19
+ Minor iterations limit 5000
20
+ Superbasics limit 10000
21
+
22
+ * Convergence Tolerances
23
+ Major feasibility tolerance 1.0e-5
24
+ Major optimality tolerance 1.0e-4
25
+ Minor feasibility tolerance 1.0e-4
26
+ Minor optimality tolerance 1.0e-4
27
+
28
+ * Derivative checking
29
+ * (By default, SNOPT does a cheap check. To get detailed derivative
30
+ * information, uncomment the Verify level option (set it to 3).)
31
+ * Verify level 3
32
+ * Start Constraint Check at Column 135 * not allowed for snOptA
33
+ * Stop Constraint Check at Column 675 * not allowed for snOptA
34
+
35
+ * Hessian approximation
36
+ Hessian limited memory
37
+ Hessian updates 5
38
+ * Feasible exit
39
+
40
+ * Miscellaneous
41
+ Sticky parameters Yes
42
+ Timing level 3
43
+ End Problem
share/doc/dart/data/mjcf/openai/LICENSE.md ADDED
@@ -0,0 +1,36 @@
1
+ # gym
2
+
3
+ The MIT License
4
+
5
+ Copyright (c) 2016 OpenAI (https://openai.com)
6
+
7
+ Permission is hereby granted, free of charge, to any person obtaining a copy
8
+ of this software and associated documentation files (the "Software"), to deal
9
+ in the Software without restriction, including without limitation the rights
10
+ to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
11
+ copies of the Software, and to permit persons to whom the Software is
12
+ furnished to do so, subject to the following conditions:
13
+
14
+ The above copyright notice and this permission notice shall be included in
15
+ all copies or substantial portions of the Software.
16
+
17
+ THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
18
+ IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
19
+ FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
20
+ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
21
+ LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
22
+ OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
23
+ THE SOFTWARE.
24
+
25
+ # Mujoco models
26
+ This work is derived from [MuJuCo models](http://www.mujoco.org/forum/index.php?resources/) used under the following license:
27
+ ```
28
+ This file is part of MuJoCo.
29
+ Copyright 2009-2015 Roboti LLC.
30
+ Mujoco :: Advanced physics simulation engine
31
+ Source : www.roboti.us
32
+ Version : 1.31
33
+ Released : 23Apr16
34
+ Author :: Vikash Kumar
35
+ Contacts : kumar@roboti.us
36
+ ```
share/doc/dart/data/mjcf/openai/ant.xml ADDED
@@ -0,0 +1,81 @@
1
+ <mujoco model="ant">
2
+ <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
3
+ <option integrator="RK4" timestep="0.01"/>
4
+ <custom>
5
+ <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
6
+ </custom>
7
+ <default>
8
+ <joint armature="1" damping="1" limited="true"/>
9
+ <geom conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/>
10
+ </default>
11
+ <asset>
12
+ <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
13
+ <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"/>
14
+ <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
15
+ <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
16
+ <material name="geom" texture="texgeom" texuniform="true"/>
17
+ </asset>
18
+ <worldbody>
19
+ <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"/>
20
+ <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
21
+ <body name="torso" pos="0 0 0.75">
22
+ <camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
23
+ <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
24
+ <joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
25
+ <body name="front_left_leg" pos="0 0 0">
26
+ <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule"/>
27
+ <body name="aux_1" pos="0.2 0.2 0">
28
+ <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
29
+ <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule"/>
30
+ <body pos="0.2 0.2 0">
31
+ <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
32
+ <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule"/>
33
+ </body>
34
+ </body>
35
+ </body>
36
+ <body name="front_right_leg" pos="0 0 0">
37
+ <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
38
+ <body name="aux_2" pos="-0.2 0.2 0">
39
+ <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
40
+ <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
41
+ <body pos="-0.2 0.2 0">
42
+ <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
43
+ <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
44
+ </body>
45
+ </body>
46
+ </body>
47
+ <body name="back_leg" pos="0 0 0">
48
+ <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
49
+ <body name="aux_3" pos="-0.2 -0.2 0">
50
+ <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
51
+ <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
52
+ <body pos="-0.2 -0.2 0">
53
+ <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
54
+ <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
55
+ </body>
56
+ </body>
57
+ </body>
58
+ <body name="right_back_leg" pos="0 0 0">
59
+ <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule"/>
60
+ <body name="aux_4" pos="0.2 -0.2 0">
61
+ <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
62
+ <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule"/>
63
+ <body pos="0.2 -0.2 0">
64
+ <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
65
+ <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule"/>
66
+ </body>
67
+ </body>
68
+ </body>
69
+ </body>
70
+ </worldbody>
71
+ <actuator>
72
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
73
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
74
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
75
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
76
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
77
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
78
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
79
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
80
+ </actuator>
81
+ </mujoco>
share/doc/dart/data/mjcf/openai/half_cheetah.xml ADDED
@@ -0,0 +1,96 @@
1
+ <!-- Cheetah Model
2
+
3
+ The state space is populated with joints in the order that they are
4
+ defined in this file. The actuators also operate on joints.
5
+
6
+ State-Space (name/joint/parameter):
7
+ - rootx slider position (m)
8
+ - rootz slider position (m)
9
+ - rooty hinge angle (rad)
10
+ - bthigh hinge angle (rad)
11
+ - bshin hinge angle (rad)
12
+ - bfoot hinge angle (rad)
13
+ - fthigh hinge angle (rad)
14
+ - fshin hinge angle (rad)
15
+ - ffoot hinge angle (rad)
16
+ - rootx slider velocity (m/s)
17
+ - rootz slider velocity (m/s)
18
+ - rooty hinge angular velocity (rad/s)
19
+ - bthigh hinge angular velocity (rad/s)
20
+ - bshin hinge angular velocity (rad/s)
21
+ - bfoot hinge angular velocity (rad/s)
22
+ - fthigh hinge angular velocity (rad/s)
23
+ - fshin hinge angular velocity (rad/s)
24
+ - ffoot hinge angular velocity (rad/s)
25
+
26
+ Actuators (name/actuator/parameter):
27
+ - bthigh hinge torque (N m)
28
+ - bshin hinge torque (N m)
29
+ - bfoot hinge torque (N m)
30
+ - fthigh hinge torque (N m)
31
+ - fshin hinge torque (N m)
32
+ - ffoot hinge torque (N m)
33
+
34
+ -->
35
+ <mujoco model="cheetah">
36
+ <compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/>
37
+ <default>
38
+ <joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
39
+ <geom conaffinity="0" condim="3" contype="1" friction=".4 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
40
+ <motor ctrllimited="true" ctrlrange="-1 1"/>
41
+ </default>
42
+ <size nstack="300000" nuser_geom="1"/>
43
+ <option gravity="0 0 -9.81" timestep="0.01"/>
44
+ <asset>
45
+ <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
46
+ <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"/>
47
+ <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
48
+ <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
49
+ <material name="geom" texture="texgeom" texuniform="true"/>
50
+ </asset>
51
+ <worldbody>
52
+ <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"/>
53
+ <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
54
+ <body name="torso" pos="0 0 .7">
55
+ <camera name="track" mode="trackcom" pos="0 -3 0.3" xyaxes="1 0 0 0 0 1"/>
56
+ <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
57
+ <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" stiffness="0" type="slide"/>
58
+ <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 0" stiffness="0" type="hinge"/>
59
+ <geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/>
60
+ <geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
61
+ <!-- <site name='tip' pos='.15 0 .11'/>-->
62
+ <body name="bthigh" pos="-.5 0 0">
63
+ <joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
64
+ <geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
65
+ <body name="bshin" pos=".16 0 -.25">
66
+ <joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
67
+ <geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
68
+ <body name="bfoot" pos="-.28 0 -.14">
69
+ <joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
70
+ <geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
71
+ </body>
72
+ </body>
73
+ </body>
74
+ <body name="fthigh" pos=".5 0 0">
75
+ <joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1 .7" stiffness="180" type="hinge"/>
76
+ <geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
77
+ <body name="fshin" pos="-.14 0 -.24">
78
+ <joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 .87" stiffness="120" type="hinge"/>
79
+ <geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
80
+ <body name="ffoot" pos=".13 0 -.18">
81
+ <joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-.5 .5" stiffness="60" type="hinge"/>
82
+ <geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
83
+ </body>
84
+ </body>
85
+ </body>
86
+ </body>
87
+ </worldbody>
88
+ <actuator>
89
+ <motor gear="120" joint="bthigh" name="bthigh"/>
90
+ <motor gear="90" joint="bshin" name="bshin"/>
91
+ <motor gear="60" joint="bfoot" name="bfoot"/>
92
+ <motor gear="120" joint="fthigh" name="fthigh"/>
93
+ <motor gear="60" joint="fshin" name="fshin"/>
94
+ <motor gear="30" joint="ffoot" name="ffoot"/>
95
+ </actuator>
96
+ </mujoco>
share/doc/dart/data/mjcf/openai/hopper.xml ADDED
@@ -0,0 +1,50 @@
1
+ <mujoco model="hopper">
2
+ <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
3
+ <default>
4
+ <joint armature="1" damping="1" limited="true"/>
5
+ <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"/>
6
+ <motor ctrllimited="true" ctrlrange="-.4 .4"/>
7
+ </default>
8
+ <option integrator="RK4" timestep="0.002"/>
9
+ <visual>
10
+ <map znear="0.02"/>
11
+ </visual>
12
+ <worldbody>
13
+ <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"/>
14
+ <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"/>
15
+ <body name="torso" pos="0 0 1.25">
16
+ <camera name="track" mode="trackcom" pos="0 -3 1" xyaxes="1 0 0 0 0 1"/>
17
+ <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
18
+ <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
19
+ <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/>
20
+ <geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
21
+ <body name="thigh" pos="0 0 1.05">
22
+ <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
23
+ <geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
24
+ <body name="leg" pos="0 0 0.35">
25
+ <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
26
+ <geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
27
+ <!-- Modification for DART: Removed mathematical expression in 'pos' attribute -->
28
+ <!-- <body name="foot" pos="0.13/2 0 0.1"> -->
29
+ <body name="foot" pos="0.065 0 0.1">
30
+ <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
31
+ <geom friction="2.0" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
32
+ </body>
33
+ </body>
34
+ </body>
35
+ </body>
36
+ </worldbody>
37
+ <actuator>
38
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
39
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
40
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
41
+ </actuator>
42
+ <asset>
43
+ <texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0"
44
+ width="100" height="100"/>
45
+ <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"/>
46
+ <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
47
+ <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
48
+ <material name="geom" texture="texgeom" texuniform="true"/>
49
+ </asset>
50
+ </mujoco>
share/doc/dart/data/mjcf/openai/humanoid.xml ADDED
@@ -0,0 +1,121 @@
1
+ <mujoco model="humanoid">
2
+ <compiler angle="degree" inertiafromgeom="true"/>
3
+ <default>
4
+ <joint armature="1" damping="1" limited="true"/>
5
+ <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
6
+ <motor ctrllimited="true" ctrlrange="-.4 .4"/>
7
+ </default>
8
+ <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
9
+ <!-- <flags solverstat="enable" energy="enable"/>-->
10
+ </option>
11
+ <size nkey="5" nuser_geom="1"/>
12
+ <visual>
13
+ <map fogend="5" fogstart="3"/>
14
+ </visual>
15
+ <asset>
16
+ <texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
17
+ <!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
18
+ <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"/>
19
+ <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
20
+ <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
21
+ <material name="geom" texture="texgeom" texuniform="true"/>
22
+ </asset>
23
+ <worldbody>
24
+ <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"/>
25
+ <geom condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
26
+ <!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
27
+ <body name="torso" pos="0 0 1.4">
28
+ <camera name="track" mode="trackcom" pos="0 -4 0" xyaxes="1 0 0 0 0 1"/>
29
+ <joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/>
30
+ <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
31
+ <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
32
+ <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
33
+ <body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
34
+ <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
35
+ <joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
36
+ <joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
37
+ <body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
38
+ <joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
39
+ <geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
40
+ <body name="right_thigh" pos="0 -0.1 -0.04">
41
+ <joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
42
+ <joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
43
+ <joint armature="0.0080" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
44
+ <geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
45
+ <body name="right_shin" pos="0 0.01 -0.403">
46
+ <joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" type="hinge"/>
47
+ <geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
48
+ <body name="right_foot" pos="0 0 -0.45">
49
+ <geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
50
+ </body>
51
+ </body>
52
+ </body>
53
+ <body name="left_thigh" pos="0 0.1 -0.04">
54
+ <joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
55
+ <joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
56
+ <joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
57
+ <geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
58
+ <body name="left_shin" pos="0 -0.01 -0.403">
59
+ <joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
60
+ <geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
61
+ <body name="left_foot" pos="0 0 -0.45">
62
+ <geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
63
+ </body>
64
+ </body>
65
+ </body>
66
+ </body>
67
+ </body>
68
+ <body name="right_upper_arm" pos="0 -0.17 0.06">
69
+ <joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
70
+ <joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
71
+ <geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
72
+ <body name="right_lower_arm" pos=".18 -.18 -.18">
73
+ <joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
74
+ <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
75
+ <geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
76
+ <camera pos="0 0 0"/>
77
+ </body>
78
+ </body>
79
+ <body name="left_upper_arm" pos="0 0.17 0.06">
80
+ <joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
81
+ <joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
82
+ <geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
83
+ <body name="left_lower_arm" pos=".18 .18 -.18">
84
+ <joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
85
+ <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
86
+ <geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
87
+ </body>
88
+ </body>
89
+ </body>
90
+ </worldbody>
91
+ <tendon>
92
+ <fixed name="left_hipknee">
93
+ <joint coef="-1" joint="left_hip_y"/>
94
+ <joint coef="1" joint="left_knee"/>
95
+ </fixed>
96
+ <fixed name="right_hipknee">
97
+ <joint coef="-1" joint="right_hip_y"/>
98
+ <joint coef="1" joint="right_knee"/>
99
+ </fixed>
100
+ </tendon>
101
+
102
+ <actuator>
103
+ <motor gear="100" joint="abdomen_y" name="abdomen_y"/>
104
+ <motor gear="100" joint="abdomen_z" name="abdomen_z"/>
105
+ <motor gear="100" joint="abdomen_x" name="abdomen_x"/>
106
+ <motor gear="100" joint="right_hip_x" name="right_hip_x"/>
107
+ <motor gear="100" joint="right_hip_z" name="right_hip_z"/>
108
+ <motor gear="300" joint="right_hip_y" name="right_hip_y"/>
109
+ <motor gear="200" joint="right_knee" name="right_knee"/>
110
+ <motor gear="100" joint="left_hip_x" name="left_hip_x"/>
111
+ <motor gear="100" joint="left_hip_z" name="left_hip_z"/>
112
+ <motor gear="300" joint="left_hip_y" name="left_hip_y"/>
113
+ <motor gear="200" joint="left_knee" name="left_knee"/>
114
+ <motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
115
+ <motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
116
+ <motor gear="25" joint="right_elbow" name="right_elbow"/>
117
+ <motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
118
+ <motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
119
+ <motor gear="25" joint="left_elbow" name="left_elbow"/>
120
+ </actuator>
121
+ </mujoco>
share/doc/dart/data/mjcf/openai/humanoidstandup.xml ADDED
@@ -0,0 +1,121 @@
1
+ <mujoco model="humanoidstandup">
2
+ <compiler angle="degree" inertiafromgeom="true"/>
3
+ <default>
4
+ <joint armature="1" damping="1" limited="true"/>
5
+ <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
6
+ <motor ctrllimited="true" ctrlrange="-.4 .4"/>
7
+ </default>
8
+ <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
9
+ <!-- <flags solverstat="enable" energy="enable"/>-->
10
+ </option>
11
+ <size nkey="5" nuser_geom="1"/>
12
+ <visual>
13
+ <map fogend="5" fogstart="3"/>
14
+ </visual>
15
+ <asset>
16
+ <texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
17
+ <!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
18
+ <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"/>
19
+ <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
20
+ <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
21
+ <material name="geom" texture="texgeom" texuniform="true"/>
22
+ </asset>
23
+ <worldbody>
24
+ <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"/>
25
+ <geom condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
26
+ <!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
27
+ <body name="torso" pos="0 0 .105">
28
+ <camera name="track" mode="trackcom" pos="0 -3 .5" xyaxes="1 0 0 0 0 1"/>
29
+ <joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/>
30
+ <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
31
+ <geom name="head" pos="-.15 0 0" size=".09" type="sphere" user="258"/>
32
+ <geom fromto=".11 -.06 0 .11 .06 0" name="uwaist" size="0.06" type="capsule"/>
33
+ <body name="lwaist" pos=".21 0 0" quat="1.000 0 -0.002 0">
34
+ <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
35
+ <joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
36
+ <joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
37
+ <body name="pelvis" pos="0.165 0 0" quat="1.000 0 -0.002 0">
38
+ <joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
39
+ <geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
40
+ <body name="right_thigh" pos="0 -0.1 0">
41
+ <joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
42
+ <joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
43
+ <joint armature="0.0080" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge"/>
44
+ <geom fromto="0 0 0 0.34 0.01 0" name="right_thigh1" size="0.06" type="capsule"/>
45
+ <body name="right_shin" pos="0.403 0.01 0">
46
+ <joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" type="hinge"/>
47
+ <geom fromto="0 0 0 0.3 0 0" name="right_shin1" size="0.049" type="capsule"/>
48
+ <body name="right_foot" pos="0.35 0 -.10">
49
+ <geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
50
+ </body>
51
+ </body>
52
+ </body>
53
+ <body name="left_thigh" pos="0 0.1 0">
54
+ <joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
55
+ <joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
56
+ <joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
57
+ <geom fromto="0 0 0 0.34 -0.01 0" name="left_thigh1" size="0.06" type="capsule"/>
58
+ <body name="left_shin" pos="0.403 -0.01 0">
59
+ <joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
60
+ <geom fromto="0 0 0 0.3 0 0" name="left_shin1" size="0.049" type="capsule"/>
61
+ <body name="left_foot" pos="0.35 0 -.1">
62
+ <geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
63
+ </body>
64
+ </body>
65
+ </body>
66
+ </body>
67
+ </body>
68
+ <body name="right_upper_arm" pos="0 -0.17 0.06">
69
+ <joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
70
+ <joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
71
+ <geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
72
+ <body name="right_lower_arm" pos=".18 -.18 -.18">
73
+ <joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
74
+ <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
75
+ <geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
76
+ <camera pos="0 0 0"/>
77
+ </body>
78
+ </body>
79
+ <body name="left_upper_arm" pos="0 0.17 0.06">
80
+ <joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
81
+ <joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
82
+ <geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
83
+ <body name="left_lower_arm" pos=".18 .18 -.18">
84
+ <joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
85
+ <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
86
+ <geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
87
+ </body>
88
+ </body>
89
+ </body>
90
+ </worldbody>
91
+ <tendon>
92
+ <fixed name="left_hipknee">
93
+ <joint coef="-1" joint="left_hip_y"/>
94
+ <joint coef="1" joint="left_knee"/>
95
+ </fixed>
96
+ <fixed name="right_hipknee">
97
+ <joint coef="-1" joint="right_hip_y"/>
98
+ <joint coef="1" joint="right_knee"/>
99
+ </fixed>
100
+ </tendon>
101
+
102
+ <actuator>
103
+ <motor gear="100" joint="abdomen_y" name="abdomen_y"/>
104
+ <motor gear="100" joint="abdomen_z" name="abdomen_z"/>
105
+ <motor gear="100" joint="abdomen_x" name="abdomen_x"/>
106
+ <motor gear="100" joint="right_hip_x" name="right_hip_x"/>
107
+ <motor gear="100" joint="right_hip_z" name="right_hip_z"/>
108
+ <motor gear="300" joint="right_hip_y" name="right_hip_y"/>
109
+ <motor gear="200" joint="right_knee" name="right_knee"/>
110
+ <motor gear="100" joint="left_hip_x" name="left_hip_x"/>
111
+ <motor gear="100" joint="left_hip_z" name="left_hip_z"/>
112
+ <motor gear="300" joint="left_hip_y" name="left_hip_y"/>
113
+ <motor gear="200" joint="left_knee" name="left_knee"/>
114
+ <motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
115
+ <motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
116
+ <motor gear="25" joint="right_elbow" name="right_elbow"/>
117
+ <motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
118
+ <motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
119
+ <motor gear="25" joint="left_elbow" name="left_elbow"/>
120
+ </actuator>
121
+ </mujoco>
share/doc/dart/data/mjcf/openai/inverted_double_pendulum.xml ADDED
@@ -0,0 +1,47 @@
1
+ <!-- Cartpole Model
2
+
3
+ The state space is populated with joints in the order that they are
4
+ defined in this file. The actuators also operate on joints.
5
+
6
+ State-Space (name/joint/parameter):
7
+ - cart slider position (m)
8
+ - pole hinge angle (rad)
9
+ - cart slider velocity (m/s)
10
+ - pole hinge angular velocity (rad/s)
11
+
12
+ Actuators (name/actuator/parameter):
13
+ - cart motor force x (N)
14
+
15
+ -->
16
+ <mujoco model="cartpole">
17
+ <compiler coordinate="local" inertiafromgeom="true"/>
18
+ <custom>
19
+ <numeric data="2" name="frame_skip"/>
20
+ </custom>
21
+ <default>
22
+ <joint damping="0.05"/>
23
+ <geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
24
+ </default>
25
+ <option gravity="1e-5 0 -9.81" integrator="RK4" timestep="0.01"/>
26
+ <size nstack="3000"/>
27
+ <worldbody>
28
+ <geom name="floor" pos="0 0 -3.0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
29
+ <geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
30
+ <body name="cart" pos="0 0 0">
31
+ <joint axis="1 0 0" limited="true" margin="0.01" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
32
+ <geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
33
+ <body name="pole" pos="0 0 0">
34
+ <joint axis="0 1 0" name="hinge" pos="0 0 0" type="hinge"/>
35
+ <geom fromto="0 0 0 0 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
36
+ <body name="pole2" pos="0 0 0.6">
37
+ <joint axis="0 1 0" name="hinge2" pos="0 0 0" type="hinge"/>
38
+ <geom fromto="0 0 0 0 0 0.6" name="cpole2" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
39
+ <site name="tip" pos="0 0 .6" size="0.01 0.01"/>
40
+ </body>
41
+ </body>
42
+ </body>
43
+ </worldbody>
44
+ <actuator>
45
+ <motor ctrllimited="true" ctrlrange="-1 1" gear="500" joint="slider" name="slide"/>
46
+ </actuator>
47
+ </mujoco>