imt-ring 1.2.1__py3-none-any.whl
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- imt_ring-1.2.1.dist-info/METADATA +91 -0
- imt_ring-1.2.1.dist-info/RECORD +83 -0
- imt_ring-1.2.1.dist-info/WHEEL +5 -0
- imt_ring-1.2.1.dist-info/top_level.txt +1 -0
- ring/__init__.py +63 -0
- ring/algebra.py +100 -0
- ring/algorithms/__init__.py +45 -0
- ring/algorithms/_random.py +403 -0
- ring/algorithms/custom_joints/__init__.py +6 -0
- ring/algorithms/custom_joints/rr_imp_joint.py +69 -0
- ring/algorithms/custom_joints/rr_joint.py +33 -0
- ring/algorithms/custom_joints/suntay.py +424 -0
- ring/algorithms/dynamics.py +345 -0
- ring/algorithms/generator/__init__.py +25 -0
- ring/algorithms/generator/base.py +414 -0
- ring/algorithms/generator/batch.py +282 -0
- ring/algorithms/generator/motion_artifacts.py +222 -0
- ring/algorithms/generator/pd_control.py +182 -0
- ring/algorithms/generator/randomize.py +119 -0
- ring/algorithms/generator/transforms.py +410 -0
- ring/algorithms/generator/types.py +36 -0
- ring/algorithms/jcalc.py +840 -0
- ring/algorithms/kinematics.py +202 -0
- ring/algorithms/sensors.py +582 -0
- ring/base.py +1046 -0
- ring/io/__init__.py +9 -0
- ring/io/examples/branched.xml +24 -0
- ring/io/examples/exclude/knee_trans_dof.xml +26 -0
- ring/io/examples/exclude/standard_sys.xml +106 -0
- ring/io/examples/exclude/standard_sys_rr_imp.xml +106 -0
- ring/io/examples/inv_pendulum.xml +14 -0
- ring/io/examples/knee_flexible_imus.xml +22 -0
- ring/io/examples/spherical_stiff.xml +11 -0
- ring/io/examples/symmetric.xml +12 -0
- ring/io/examples/test_all_1.xml +39 -0
- ring/io/examples/test_all_2.xml +39 -0
- ring/io/examples/test_ang0_pos0.xml +9 -0
- ring/io/examples/test_control.xml +16 -0
- ring/io/examples/test_double_pendulum.xml +14 -0
- ring/io/examples/test_free.xml +11 -0
- ring/io/examples/test_kinematics.xml +23 -0
- ring/io/examples/test_morph_system/four_seg_seg1.xml +26 -0
- ring/io/examples/test_morph_system/four_seg_seg3.xml +26 -0
- ring/io/examples/test_randomize_position.xml +26 -0
- ring/io/examples/test_sensors.xml +13 -0
- ring/io/examples/test_three_seg_seg2.xml +23 -0
- ring/io/examples.py +42 -0
- ring/io/test_examples.py +6 -0
- ring/io/xml/__init__.py +6 -0
- ring/io/xml/abstract.py +300 -0
- ring/io/xml/from_xml.py +299 -0
- ring/io/xml/test_from_xml.py +56 -0
- ring/io/xml/test_to_xml.py +31 -0
- ring/io/xml/to_xml.py +94 -0
- ring/maths.py +397 -0
- ring/ml/__init__.py +33 -0
- ring/ml/base.py +292 -0
- ring/ml/callbacks.py +434 -0
- ring/ml/ml_utils.py +272 -0
- ring/ml/optimizer.py +149 -0
- ring/ml/params/0x13e3518065c21cd8.pickle +0 -0
- ring/ml/ringnet.py +279 -0
- ring/ml/train.py +318 -0
- ring/ml/training_loop.py +131 -0
- ring/rendering/__init__.py +2 -0
- ring/rendering/base_render.py +271 -0
- ring/rendering/mujoco_render.py +222 -0
- ring/rendering/vispy_render.py +340 -0
- ring/rendering/vispy_visuals.py +290 -0
- ring/sim2real/__init__.py +7 -0
- ring/sim2real/sim2real.py +288 -0
- ring/spatial.py +126 -0
- ring/sys_composer/__init__.py +5 -0
- ring/sys_composer/delete_sys.py +114 -0
- ring/sys_composer/inject_sys.py +110 -0
- ring/sys_composer/morph_sys.py +361 -0
- ring/utils/__init__.py +21 -0
- ring/utils/batchsize.py +51 -0
- ring/utils/colab.py +48 -0
- ring/utils/hdf5.py +198 -0
- ring/utils/normalizer.py +56 -0
- ring/utils/path.py +44 -0
- ring/utils/utils.py +161 -0
ring/io/__init__.py
ADDED
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from .examples import list_examples
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from .examples import list_load_examples
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from .examples import load_example
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from .xml import load_comments_from_str
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from .xml import load_comments_from_xml
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from .xml import load_sys_from_str
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from .xml import load_sys_from_xml
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from .xml import save_sys_to_str
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from .xml import save_sys_to_xml
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<x_xy model="branched">
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<options gravity="0 0 9.81" dt="0.01"/>
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<defaults>
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<geom type="box" mass="10" pos="0.5 0 0" dim="1 0.25 0.2" edge_color="black" color="white"/>
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<body pos="1 0 0" joint="rz"/>
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</defaults>
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<worldbody>
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<body name="0th" pos="0 0 0" euler="0 90 0" joint="free">
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<geom/>
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<body name="1st">
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<geom/>
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</body>
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<body name="2nd" joint="rx">
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<geom/>
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<body name="3rd">
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<geom/>
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</body>
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<body name="4th" joint="ry">
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<geom/>
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</body>
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</body>
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</body>
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</worldbody>
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</x_xy>
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<x_xy model="knee_trans_dof">
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<options gravity="0 0 9.81" dt="0.01"/>
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<worldbody>
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<geom type="xyz" dim="0.15"/>
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<body name="_femur" joint="py" euler="90 90 0" pos="0.5 0.5 0.8">
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<geom type="xyz" dim="0.1"/>
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<body name="femur" joint="rz">
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<geom type="xyz" dim="0.1"/>
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<geom type="capsule" mass="10" euler="0 90 0" pos="0.2 0 0" dim="0.05 0.4"/>
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<body name="imu_femur" joint="frozen" pos="0.2 0 0.06" pos_min=".05 -.06 -.06" pos_max=".35 .06 .06">
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<geom type="xyz" dim="0.05"/>
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<geom type="box" mass="0" dim="0.05 0.05 0.02" color="orange"/>
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</body>
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<body name="tibia" joint="knee_hinge" pos="0.4 0 0">
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<geom type="xyz" dim="0.1"/>
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<geom type="capsule" mass="10" euler="0 90 0" pos="0.2 0 0" dim="0.04 0.4"/>
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<body name="imu_tibia" joint="frozen" pos="0.2 0 0.06" pos_min=".05 -.06 -.06" pos_max=".35 .06 .06">
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<geom type="xyz" dim="0.05"/>
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<geom type="box" mass="0" dim="0.05 0.05 0.02" color="orange"/>
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</body>
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<geom type="box" mass="5.0" pos="0.45 -.1 0" dim="0.025 0.2 0.05"/>
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</body>
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</body>
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</body>
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</worldbody>
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</x_xy>
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<?xml version="1.0" ?>
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<x_xy model="arm_1Seg">
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<options dt="0.01" gravity="0.0 0.0 9.81"/>
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<worldbody>
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<body joint="free" name="seg2_1Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
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<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
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<geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
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<body joint="frozen" name="imu2_1Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
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<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
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<omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
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</body>
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</body>
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<body joint="free" name="seg2_2Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
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<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
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<geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
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<body joint="frozen" name="imu2_2Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
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<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
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<omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
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</body>
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<body joint="ry" name="seg3_2Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0">
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<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
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<geom pos="0.1 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
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<body joint="frozen" name="imu3_2Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
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<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
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<omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
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</body>
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</body>
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</body>
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<body joint="free" name="seg2_3Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
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<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
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<geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
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<body joint="frozen" name="imu2_3Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
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<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
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<omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
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</body>
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<body joint="ry" name="seg3_3Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0">
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<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
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<geom pos="0.1 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
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<body joint="frozen" name="imu3_3Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
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<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
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<omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
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</body>
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<body joint="rz" name="seg4_3Seg" pos="0.19999999 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0">
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<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
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<geom pos="0.03 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<geom pos="0.17 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="4"/>
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<body joint="frozen" name="imu4_3Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15000004 0.05 0.05">
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<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
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<omc pos="0.1 0.0 0.015" name="seg4" pos_marker="4"/>
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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 joint="free" name="seg5_4Seg" pos="0.2 0.0 0.0" pos_min="0.15 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
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<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
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<geom pos="0.03 -0.05 0.0" mass="0.1" color="dustin_exp_white" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<geom pos="0.17 -0.05 0.0" mass="0.1" color="dustin_exp_white" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<omc pos="0.0 0.0 -0.02" name="seg5" pos_marker="2"/>
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<body joint="frozen" name="imu5_4Seg" pos="0.10000001 0.0 0.035" pos_min="0.049999997 -0.05 -0.05" pos_max="0.15000002 0.05 0.05">
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<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
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<omc pos="0.1 0.0 0.015" name="seg5" pos_marker="2"/>
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</body>
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<body joint="rx" name="seg2_4Seg" pos="0.2 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0">
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<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
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<geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
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<body joint="frozen" name="imu2_4Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
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<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
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<omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
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</body>
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<body joint="ry" name="seg3_4Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0">
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<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
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<geom pos="0.1 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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87
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+
<omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
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<body joint="frozen" name="imu3_4Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
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<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
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<omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
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</body>
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<body joint="rz" name="seg4_4Seg" pos="0.19999999 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0">
|
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<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
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<geom pos="0.03 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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<geom pos="0.17 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
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+
<omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="4"/>
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<body joint="frozen" name="imu4_4Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15000004 0.05 0.05">
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<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
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<omc pos="0.1 0.0 0.015" name="seg4" pos_marker="4"/>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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</x_xy>
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@@ -0,0 +1,106 @@
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+
<?xml version="1.0" ?>
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+
<x_xy model="arm_1Seg">
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+
<options dt="0.01" gravity="0.0 0.0 9.81"/>
|
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4
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+
<worldbody>
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5
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+
<body joint="free" name="seg2_1Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
|
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6
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+
<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
|
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7
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+
<geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
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8
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+
<geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
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9
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+
<omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
|
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10
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+
<body joint="frozen" name="imu2_1Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
|
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11
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+
<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
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+
<omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
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</body>
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</body>
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<body joint="free" name="seg2_2Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
|
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+
<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
|
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+
<geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
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+
<geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
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19
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+
<omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
|
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+
<body joint="frozen" name="imu2_2Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
|
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21
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+
<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
|
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+
<omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
|
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+
</body>
|
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24
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+
<body joint="rr_imp" name="seg3_2Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0 3.0">
|
|
25
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+
<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
|
|
26
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+
<geom pos="0.1 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
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+
<geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
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+
<omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
|
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+
<body joint="frozen" name="imu3_2Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
|
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|
+
<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
|
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+
<omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
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</body>
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</body>
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</body>
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<body joint="free" name="seg2_3Seg" pos="0.4 0.0 0.0" pos_min="0.2 -0.05 -0.05" pos_max="0.55 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
|
|
36
|
+
<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
|
|
37
|
+
<geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
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+
<geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
|
39
|
+
<omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
|
|
40
|
+
<body joint="frozen" name="imu2_3Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
|
|
41
|
+
<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
|
|
42
|
+
<omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
|
|
43
|
+
</body>
|
|
44
|
+
<body joint="rr_imp" name="seg3_3Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0 3.0">
|
|
45
|
+
<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
|
|
46
|
+
<geom pos="0.1 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
|
47
|
+
<geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
|
48
|
+
<omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
|
|
49
|
+
<body joint="frozen" name="imu3_3Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
|
|
50
|
+
<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
|
|
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+
<omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
|
|
52
|
+
</body>
|
|
53
|
+
<body joint="rr_imp" name="seg4_3Seg" pos="0.19999999 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0 3.0">
|
|
54
|
+
<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
|
|
55
|
+
<geom pos="0.03 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
|
56
|
+
<geom pos="0.17 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
|
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|
+
<omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="4"/>
|
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|
+
<body joint="frozen" name="imu4_3Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15000004 0.05 0.05">
|
|
59
|
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<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
|
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|
+
<omc pos="0.1 0.0 0.015" name="seg4" pos_marker="4"/>
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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 joint="free" name="seg5_4Seg" pos="0.2 0.0 0.0" pos_min="0.15 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="5.0 5.0 5.0 25.0 25.0 25.0">
|
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<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
|
|
67
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<geom pos="0.03 -0.05 0.0" mass="0.1" color="dustin_exp_white" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
|
68
|
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<geom pos="0.17 -0.05 0.0" mass="0.1" color="dustin_exp_white" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
|
69
|
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<omc pos="0.0 0.0 -0.02" name="seg5" pos_marker="2"/>
|
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|
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<body joint="frozen" name="imu5_4Seg" pos="0.10000001 0.0 0.035" pos_min="0.049999997 -0.05 -0.05" pos_max="0.15000002 0.05 0.05">
|
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<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
|
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<omc pos="0.1 0.0 0.015" name="seg5" pos_marker="2"/>
|
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+
</body>
|
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+
<body joint="rr_imp" name="seg2_4Seg" pos="0.2 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0 3.0">
|
|
75
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<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_blue" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
|
|
76
|
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<geom pos="0.05 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
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+
<geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
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+
<omc pos="0.0 0.0 -0.02" name="seg2" pos_marker="1"/>
|
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<body joint="frozen" name="imu2_4Seg" pos="0.099999994 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15 0.05 0.05">
|
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<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
|
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<omc pos="0.1 0.0 0.015" name="seg2" pos_marker="1"/>
|
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+
</body>
|
|
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|
+
<body joint="rr_imp" name="seg3_4Seg" pos="0.20000002 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35 0.05 0.05" damping="3.0 3.0">
|
|
84
|
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<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
|
|
85
|
+
<geom pos="0.1 0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
|
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+
<geom pos="0.15 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
|
87
|
+
<omc pos="0.0 0.0 -0.02" name="seg3" pos_marker="2"/>
|
|
88
|
+
<body joint="frozen" name="imu3_4Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.14999998 0.05 0.05">
|
|
89
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+
<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
|
|
90
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+
<omc pos="0.1 0.0 0.015" name="seg3" pos_marker="2"/>
|
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91
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+
</body>
|
|
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|
+
<body joint="rr_imp" name="seg4_4Seg" pos="0.19999999 0.0 0.0" pos_min="0.0 -0.05 -0.05" pos_max="0.35000002 0.05 0.05" damping="3.0 3.0">
|
|
93
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+
<geom pos="0.1 0.0 0.0" mass="1.0" color="dustin_exp_white" edge_color="black" type="box" dim="0.2 0.05 0.05"/>
|
|
94
|
+
<geom pos="0.03 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
|
95
|
+
<geom pos="0.17 -0.05 0.0" mass="0.1" color="black" edge_color="black" type="box" dim="0.01 0.1 0.01"/>
|
|
96
|
+
<omc pos="0.0 0.0 -0.02" name="seg4" pos_marker="4"/>
|
|
97
|
+
<body joint="frozen" name="imu4_4Seg" pos="0.100000024 0.0 0.035" pos_min="0.050000012 -0.05 -0.05" pos_max="0.15000004 0.05 0.05">
|
|
98
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+
<geom mass="0.1" color="dustin_exp_orange" edge_color="black" type="box" dim="0.05 0.03 0.02"/>
|
|
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+
<omc pos="0.1 0.0 0.015" name="seg4" pos_marker="4"/>
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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>
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</worldbody>
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</x_xy>
|
|
@@ -0,0 +1,14 @@
|
|
|
1
|
+
<x_xy model="inv_pendulum">
|
|
2
|
+
<options gravity="0 0 9.81" dt="0.01"/>
|
|
3
|
+
<defaults>
|
|
4
|
+
<geom edge_color="black" color="white"/>
|
|
5
|
+
</defaults>
|
|
6
|
+
<worldbody>
|
|
7
|
+
<body name="cart" joint="px" damping="0.01">
|
|
8
|
+
<geom type="box" mass="1" dim="0.4 0.1 0.1"/>
|
|
9
|
+
<body name="pendulum" joint="ry" euler="0 -90 0" damping="0.01" pos_min="0 0 0" pos_max="0 0 5">
|
|
10
|
+
<geom type="box" mass="0.5" pos="0.5 0 0" dim="1 0.1 0.1"/>
|
|
11
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+
</body>
|
|
12
|
+
</body>
|
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13
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+
</worldbody>
|
|
14
|
+
</x_xy>
|
|
@@ -0,0 +1,22 @@
|
|
|
1
|
+
<x_xy model="knee_flexible_imus">
|
|
2
|
+
<options gravity="0 0 9.81" dt="0.01"/>
|
|
3
|
+
<worldbody>
|
|
4
|
+
<body name="femur" joint="free" pos="0.5 0.5 0.3" damping="5 5 5 25 25 25">
|
|
5
|
+
<geom type="xyz" dim="0.1"/>
|
|
6
|
+
<geom type="capsule" mass="1" euler="0 90 0" pos="0.2 0 0" dim="0.05 0.4"/>
|
|
7
|
+
<body name="imu1" joint="frozen" pos="0.2 0 0" pos_min="0.05 0 0" pos_max="0.35 0 0">
|
|
8
|
+
<geom type="xyz" dim="0.05"/>
|
|
9
|
+
<geom type="box" mass="0.1" dim="0.05 0.05 0.02" color="orange"/>
|
|
10
|
+
</body>
|
|
11
|
+
<body name="tibia" joint="ry" pos="0.4 0 0" damping="3">
|
|
12
|
+
<geom type="xyz" dim="0.1"/>
|
|
13
|
+
<geom type="capsule" mass="1" euler="0 90 0" pos="0.2 0 0" dim="0.04 0.4"/>
|
|
14
|
+
<body name="imu2" joint="frozen" pos="0.2 0 0" pos_min="0.05 0 0" pos_max="0.35 0 0">
|
|
15
|
+
<geom type="xyz" dim="0.05"/>
|
|
16
|
+
<geom type="box" mass="0.1" dim="0.05 0.05 0.02" color="orange"/>
|
|
17
|
+
</body>
|
|
18
|
+
<geom type="box" mass="0" pos="0.45 0 .1" dim="0.025 0.05 0.2"/>
|
|
19
|
+
</body>
|
|
20
|
+
</body>
|
|
21
|
+
</worldbody>
|
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22
|
+
</x_xy>
|
|
@@ -0,0 +1,11 @@
|
|
|
1
|
+
<x_xy model="spherical_stiff">
|
|
2
|
+
<options gravity="0 0 0" dt="0.01"/>
|
|
3
|
+
<defaults>
|
|
4
|
+
<geom edge_color="black" color="white"/>
|
|
5
|
+
</defaults>
|
|
6
|
+
<worldbody>
|
|
7
|
+
<body name="upper" pos="0 0 0" euler="0 0 0" joint="spherical" damping="2 2 2" spring_stiff="20 20 20">
|
|
8
|
+
<geom type="box" mass="10" pos="0.5 0 0" dim="1 0.25 0.2"/>
|
|
9
|
+
</body>
|
|
10
|
+
</worldbody>
|
|
11
|
+
</x_xy>
|
|
@@ -0,0 +1,12 @@
|
|
|
1
|
+
<x_xy model="symmetric">
|
|
2
|
+
<options gravity="0 0 0" dt="0.01"/>
|
|
3
|
+
<defaults>
|
|
4
|
+
<geom edge_color="black" color="white"/>
|
|
5
|
+
</defaults>
|
|
6
|
+
<worldbody>
|
|
7
|
+
<body name="upper" pos="0 0 0" euler="0 0 0" joint="free">
|
|
8
|
+
<geom type="box" mass="10" pos="0.5 0 0" dim="1 0.25 0.2"/>
|
|
9
|
+
<geom type="box" mass="10" pos="-0.5 0 0" dim="1 0.25 0.2"/>
|
|
10
|
+
</body>
|
|
11
|
+
</worldbody>
|
|
12
|
+
</x_xy>
|
|
@@ -0,0 +1,39 @@
|
|
|
1
|
+
<x_xy model="all_1">
|
|
2
|
+
<options gravity="0 0 9.81" dt="0.01"/>
|
|
3
|
+
<defaults>
|
|
4
|
+
<geom dim="1 10 4" mass="2" edge_color="black" color="white"/>
|
|
5
|
+
</defaults>
|
|
6
|
+
<worldbody>
|
|
7
|
+
<body name="worldbody-bookkeeping" joint="frozen">
|
|
8
|
+
<body name="ry" pos="1 0 0" euler="0 90 0" joint="ry" damping="2"> <!-- NEEDS TO DIFFER FROM test_all_0&2 -> pos 1 0 0 -->
|
|
9
|
+
<geom type="box"/>
|
|
10
|
+
|
|
11
|
+
<body name="px" joint="px" pos="5.0 0 1">
|
|
12
|
+
<geom type="box"/>
|
|
13
|
+
|
|
14
|
+
<body name="py" joint="py" pos="1 1 1">
|
|
15
|
+
<geom type="box"/>
|
|
16
|
+
|
|
17
|
+
<body name="pz" joint="pz" pos="1 10 2">
|
|
18
|
+
<geom type="box"/>
|
|
19
|
+
</body>
|
|
20
|
+
</body>
|
|
21
|
+
</body>
|
|
22
|
+
</body>
|
|
23
|
+
<body name="rx" pos="0 0 0" euler="0 90 0" joint="rx" damping="1">
|
|
24
|
+
<geom type="box"/>
|
|
25
|
+
|
|
26
|
+
<body name="frozen" joint="frozen" pos="5.0 0 1">
|
|
27
|
+
<geom type="box"/>
|
|
28
|
+
</body>
|
|
29
|
+
</body>
|
|
30
|
+
<body name="rz" pos="0 0 0" euler="0 90 0" joint="rz" damping="1">
|
|
31
|
+
<geom type="box"/>
|
|
32
|
+
|
|
33
|
+
<body name="free" joint="free" pos="0.5 0 0">
|
|
34
|
+
<geom type="box"/>
|
|
35
|
+
</body>
|
|
36
|
+
</body>
|
|
37
|
+
</body>
|
|
38
|
+
</worldbody>
|
|
39
|
+
</x_xy>
|
|
@@ -0,0 +1,39 @@
|
|
|
1
|
+
<x_xy model="all_2">
|
|
2
|
+
<options gravity="0 0 9.81" dt="0.01"/>
|
|
3
|
+
<defaults>
|
|
4
|
+
<geom dim="1 10 4" mass="2" edge_color="black" color="white"/>
|
|
5
|
+
</defaults>
|
|
6
|
+
<worldbody>
|
|
7
|
+
<body name="worldbody-bookkeeping" joint="frozen">
|
|
8
|
+
<body name="ry" pos="2 0 0" euler="0 90 0" joint="ry" damping="2"> <!-- NEEDS TO DIFFER FROM test_all_1 -> pos 2 0 0 -->
|
|
9
|
+
<geom type="box"/>
|
|
10
|
+
|
|
11
|
+
<body name="px" joint="px" pos="5.0 0 1">
|
|
12
|
+
<geom type="box"/>
|
|
13
|
+
|
|
14
|
+
<body name="py" joint="py" pos="1 1 1">
|
|
15
|
+
<geom type="box"/>
|
|
16
|
+
|
|
17
|
+
<body name="pz" joint="pz" pos="1 10 2">
|
|
18
|
+
<geom type="box"/>
|
|
19
|
+
</body>
|
|
20
|
+
</body>
|
|
21
|
+
</body>
|
|
22
|
+
</body>
|
|
23
|
+
<body name="rx" pos="0 0 0" euler="0 90 0" joint="rx" damping="1">
|
|
24
|
+
<geom type="box"/>
|
|
25
|
+
|
|
26
|
+
<body name="frozen" joint="frozen" pos="5.0 0 1">
|
|
27
|
+
<geom type="box"/>
|
|
28
|
+
</body>
|
|
29
|
+
</body>
|
|
30
|
+
<body name="rz" pos="0 0 0" euler="0 90 0" joint="rz" damping="1">
|
|
31
|
+
<geom type="box"/>
|
|
32
|
+
|
|
33
|
+
<body name="free" joint="free" pos="0.5 0 0">
|
|
34
|
+
<geom type="box"/>
|
|
35
|
+
</body>
|
|
36
|
+
</body>
|
|
37
|
+
</body>
|
|
38
|
+
</worldbody>
|
|
39
|
+
</x_xy>
|
|
@@ -0,0 +1,16 @@
|
|
|
1
|
+
<x_xy model="test_control">
|
|
2
|
+
<options gravity="0 0 9.81" dt="0.01"/>
|
|
3
|
+
<defaults>
|
|
4
|
+
<geom edge_color="black" color="white"/>
|
|
5
|
+
</defaults>
|
|
6
|
+
<worldbody>
|
|
7
|
+
<body name="6D" joint="free" damping="2500 2500 2500 25 25 25">
|
|
8
|
+
<body name="upper" pos="0 0 0" euler="0 90 0" joint="ry" damping="25">
|
|
9
|
+
<geom type="box" mass="10" pos="0.5 0 0" dim="1 0.25 0.2"/>
|
|
10
|
+
<body name="lower" pos="1 0 0" quat="1 0 0 0" joint="ry" damping="25" armature="1">
|
|
11
|
+
<geom type="box" mass="10" pos="0.5 0 0" dim="1 0.25 0.2"/>
|
|
12
|
+
</body>
|
|
13
|
+
</body>
|
|
14
|
+
</body>
|
|
15
|
+
</worldbody>
|
|
16
|
+
</x_xy>
|
|
@@ -0,0 +1,14 @@
|
|
|
1
|
+
<x_xy model="test_double_pendulum">
|
|
2
|
+
<options gravity="0 0 9.81" dt="0.01"/>
|
|
3
|
+
<defaults>
|
|
4
|
+
<geom edge_color="black" color="white"/>
|
|
5
|
+
</defaults>
|
|
6
|
+
<worldbody>
|
|
7
|
+
<body name="upper" pos="0 0 0" euler="0 90 0" joint="ry" damping="2">
|
|
8
|
+
<geom type="box" mass="1" pos="0.5 0 0" dim="1 0.25 0.2"/>
|
|
9
|
+
<body name="lower" pos="1 0 0" quat="1 0 0 0" joint="ry" damping="2" armature="1">
|
|
10
|
+
<geom type="box" mass="1" pos="0.5 0 0" dim="1 0.25 0.2"/>
|
|
11
|
+
</body>
|
|
12
|
+
</body>
|
|
13
|
+
</worldbody>
|
|
14
|
+
</x_xy>
|
|
@@ -0,0 +1,11 @@
|
|
|
1
|
+
<x_xy model="free">
|
|
2
|
+
<options gravity="0 0 0" dt="0.01"/>
|
|
3
|
+
<defaults>
|
|
4
|
+
<geom edge_color="black" color="white"/>
|
|
5
|
+
</defaults>
|
|
6
|
+
<worldbody>
|
|
7
|
+
<body name="6D body" joint="free">
|
|
8
|
+
<geom type="box" mass="10" pos="0.5 0 0" dim="1 0.25 0.2"/>
|
|
9
|
+
</body>
|
|
10
|
+
</worldbody>
|
|
11
|
+
</x_xy>
|
|
@@ -0,0 +1,23 @@
|
|
|
1
|
+
<x_xy model="test_kinematics">
|
|
2
|
+
<options gravity="0 0 9.81" dt="0.01"/>
|
|
3
|
+
<defaults>
|
|
4
|
+
<geom mass="5" pos="0.2 0.1 0.05" dim="0.4 0.2 0.1" type="box"/>
|
|
5
|
+
</defaults>
|
|
6
|
+
<worldbody>
|
|
7
|
+
<body name="0th" joint="free">
|
|
8
|
+
<geom/>
|
|
9
|
+
<body name="1st" joint="rz">
|
|
10
|
+
<geom/>
|
|
11
|
+
</body>
|
|
12
|
+
<body name="2nd" joint="rz" pos="1 0 0">
|
|
13
|
+
<geom/>
|
|
14
|
+
<body name="3rd" joint="rz" pos="1 0 0">
|
|
15
|
+
<geom/>
|
|
16
|
+
</body>
|
|
17
|
+
<body name="4th" joint="ry" pos="1 0 0">
|
|
18
|
+
<geom/>
|
|
19
|
+
</body>
|
|
20
|
+
</body>
|
|
21
|
+
</body>
|
|
22
|
+
</worldbody>
|
|
23
|
+
</x_xy>
|
|
@@ -0,0 +1,26 @@
|
|
|
1
|
+
<x_xy model="four_seg_seg1">
|
|
2
|
+
<options gravity="0 0 9.81" dt="0.01"/>
|
|
3
|
+
<defaults>
|
|
4
|
+
<geom edge_color="black" color="1 0.8 0.7 1"/>
|
|
5
|
+
</defaults>
|
|
6
|
+
<worldbody>
|
|
7
|
+
<body name="seg1" joint="free">
|
|
8
|
+
<geom type="box" mass="0.1" pos="0.5 0 0" dim="1 0.25 0.2"/>
|
|
9
|
+
<body name="seg2" joint="rx" pos="1 0 0" pos_min="0.9 0 0" pos_max="1.1 0 0">
|
|
10
|
+
<geom type="box" mass="0.1" pos="0.5 0 0" dim="1 0.25 0.2"/>
|
|
11
|
+
<body name="seg3" joint="ry" pos="1 0 0" pos_min="0.9 0 0" pos_max="1.1 0 0">
|
|
12
|
+
<geom type="box" mass="0.1" pos="0.5 0 0" dim="1 0.25 0.2"/>
|
|
13
|
+
<body name="seg4" joint="rz" pos="1 0 0" pos_min="0.9 0 0" pos_max="1.1 0 0">
|
|
14
|
+
<geom type="box" mass="0.1" pos="0.5 0 0" dim="1 0.25 0.2"/>
|
|
15
|
+
<body name="imu2" joint="frozen" pos="0.5 0 -0.125">
|
|
16
|
+
<geom type="box" mass="0" dim="0.2 0.2 0.05" color="green"/>
|
|
17
|
+
</body>
|
|
18
|
+
</body>
|
|
19
|
+
</body>
|
|
20
|
+
</body>
|
|
21
|
+
<body name="imu1" joint="frozen" pos="0.5 0 0.125">
|
|
22
|
+
<geom type="box" mass="0" dim="0.2 0.2 0.05" color="blue"/>
|
|
23
|
+
</body>
|
|
24
|
+
</body>
|
|
25
|
+
</worldbody>
|
|
26
|
+
</x_xy>
|
|
@@ -0,0 +1,26 @@
|
|
|
1
|
+
<x_xy model="four_seg_seg3">
|
|
2
|
+
<options gravity="0 0 9.81" dt="0.01"/>
|
|
3
|
+
<defaults>
|
|
4
|
+
<geom edge_color="black" color="1 0.8 0.7 1"/>
|
|
5
|
+
</defaults>
|
|
6
|
+
<worldbody>
|
|
7
|
+
<body name="seg3" joint="free" pos="2 0 0" pos_min="1.9 0 0" pos_max="2.1 0 0">
|
|
8
|
+
<geom type="box" mass="0.1" pos="0.5 0 0" dim="1 0.25 0.2"/>
|
|
9
|
+
<body name="seg2" joint="ry">
|
|
10
|
+
<geom type="box" mass="0.1" pos="-0.5 0 0" dim="1 0.25 0.2"/>
|
|
11
|
+
<body name="seg1" joint="rx" pos="-1 0 0" pos_min="-1.1 0 0" pos_max="-0.9 0 0">
|
|
12
|
+
<geom type="box" mass="0.1" pos="-0.5 0 0" dim="1 0.25 0.2"/>
|
|
13
|
+
<body name="imu1" joint="frozen" pos="-0.5 0 0.125">
|
|
14
|
+
<geom type="box" mass="0" dim="0.2 0.2 0.05" color="blue"/>
|
|
15
|
+
</body>
|
|
16
|
+
</body>
|
|
17
|
+
</body>
|
|
18
|
+
<body name="seg4" joint="rz" pos="1 0 0" pos_min="0.9 0 0" pos_max="1.1 0 0">
|
|
19
|
+
<geom type="box" mass="0.1" pos="0.5 0 0" dim="1 0.25 0.2"/>
|
|
20
|
+
<body name="imu2" joint="frozen" pos="0.5 0 -0.125">
|
|
21
|
+
<geom type="box" mass="0" dim="0.2 0.2 0.05" color="green"/>
|
|
22
|
+
</body>
|
|
23
|
+
</body>
|
|
24
|
+
</body>
|
|
25
|
+
</worldbody>
|
|
26
|
+
</x_xy>
|
|
@@ -0,0 +1,26 @@
|
|
|
1
|
+
<x_xy model="test_randomize_position">
|
|
2
|
+
<options gravity="0 0 9.81" dt="0.01"/>
|
|
3
|
+
<defaults>
|
|
4
|
+
<geom edge_color="black" color="1 0.8 0.7 1"/>
|
|
5
|
+
</defaults>
|
|
6
|
+
<worldbody>
|
|
7
|
+
<body name="seg2" joint="free">
|
|
8
|
+
<geom type="box" mass="0.1" dim="1 0.25 0.2"/>
|
|
9
|
+
<body name="seg1" joint="rx" pos_min="-0.2 -0.02 -0.02" pos_max="0 0.02 0.02">
|
|
10
|
+
<geom type="box" mass="0.1" pos="-0.5 0 0" dim="1 0.25 0.2"/>
|
|
11
|
+
<body name="imu1" joint="frozen" pos_min="-0.25 -0.05 -0.05" pos_max="-0.05 0.05 0.05">
|
|
12
|
+
<geom type="box" mass="0" dim="0.2 0.2 0.05" color="orange"/>
|
|
13
|
+
</body>
|
|
14
|
+
</body>
|
|
15
|
+
<body name="seg3" joint="ry" pos_min="0 -0.02 -0.02" pos_max="0.2 0.02 0.02">
|
|
16
|
+
<geom type="box" mass="0.1" pos="0.5 0 0" dim="1 0.25 0.2"/>
|
|
17
|
+
<body name="seg4" joint="rz" pos_min="0 -0.02 -0.02" pos_max="0.4 0.02 0.02">
|
|
18
|
+
<geom type="box" mass="0.1" pos="0.5 0 0" dim="1 0.25 0.2"/>
|
|
19
|
+
<body name="imu2" joint="frozen" pos_min="0.05 -0.05 -0.05" pos_max="0.25 0.05 0.05">
|
|
20
|
+
<geom type="box" mass="0" dim="0.2 0.2 0.05" color="orange"/>
|
|
21
|
+
</body>
|
|
22
|
+
</body>
|
|
23
|
+
</body>
|
|
24
|
+
</body>
|
|
25
|
+
</worldbody>
|
|
26
|
+
</x_xy>
|
|
@@ -0,0 +1,13 @@
|
|
|
1
|
+
<x_xy model="test_sensors">
|
|
2
|
+
<options gravity="0 0 9.81" dt="0.01"/>
|
|
3
|
+
<defaults>
|
|
4
|
+
<geom edge_color="black" color="white"/>
|
|
5
|
+
</defaults>
|
|
6
|
+
<worldbody>
|
|
7
|
+
<body name="hinge" pos="0 0 0" euler="0 90 0" joint="ry">
|
|
8
|
+
<geom type="box" mass="10" pos="0.25 0 0" dim="0.5 0.25 0.2"/>
|
|
9
|
+
<body name="imu1" pos="1 0 0" joint="frozen"></body>
|
|
10
|
+
<body name="imu2" pos="2 0 0" euler="0 0 90" joint="frozen"></body>
|
|
11
|
+
</body>
|
|
12
|
+
</worldbody>
|
|
13
|
+
</x_xy>
|