tinysim 0.0.2__py3-none-any.whl → 0.0.3__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.
- tinysim/frogger/tk.py +6 -0
- tinysim/topdown_driving/widget.py +3 -4
- tinysim-0.0.3.dist-info/METADATA +80 -0
- {tinysim-0.0.2.dist-info → tinysim-0.0.3.dist-info}/RECORD +21 -9
- {tinysim-0.0.2.dist-info → tinysim-0.0.3.dist-info}/top_level.txt +1 -0
- tinysim_mujoco/__init__.py +0 -0
- tinysim_mujoco/unitree_a1/__init__.py +354 -0
- tinysim_mujoco/unitree_a1/unitree_a1/CHANGELOG.md +6 -0
- tinysim_mujoco/unitree_a1/unitree_a1/LICENSE +29 -0
- tinysim_mujoco/unitree_a1/unitree_a1/README.md +41 -0
- tinysim_mujoco/unitree_a1/unitree_a1/a1.xml +206 -0
- tinysim_mujoco/unitree_a1/unitree_a1/assets/calf.obj +141854 -0
- tinysim_mujoco/unitree_a1/unitree_a1/assets/hip.obj +53148 -0
- tinysim_mujoco/unitree_a1/unitree_a1/assets/thigh.obj +86609 -0
- tinysim_mujoco/unitree_a1/unitree_a1/assets/thigh_mirror.obj +89990 -0
- tinysim_mujoco/unitree_a1/unitree_a1/assets/trunk.obj +170318 -0
- tinysim_mujoco/unitree_a1/unitree_a1/scene.xml +23 -0
- tinysim_warp/cart_pole/__init__.py +2 -2
- tinysim_warp/quadruped/__init__.py +2 -2
- tinysim_warp/simple_quadruped/__init__.py +2 -2
- tinysim-0.0.2.dist-info/METADATA +0 -56
- {tinysim-0.0.2.dist-info → tinysim-0.0.3.dist-info}/WHEEL +0 -0
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<mujoco model="a1">
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<compiler angle="radian" meshdir="assets" texturedir="assets" autolimits="true"/>
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<default>
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<default class="a1">
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<geom friction="0.6" margin="0.001"/>
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<joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2"/>
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<position kp="100" kv="2.5" forcerange="-33.5 33.5"/>
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<default class="abduction">
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<joint axis="1 0 0" damping="1" range="-0.802851 0.802851"/>
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<position ctrlrange="-0.802851 0.802851"/>
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</default>
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<default class="hip">
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<joint range="-1.0472 4.18879"/>
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<position ctrlrange="-1.0472 4.18879"/>
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</default>
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<default class="knee">
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<joint range="-2.69653 -0.916298"/>
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<position ctrlrange="-2.69653 -0.916298"/>
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</default>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" group="2" material="dark"/>
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</default>
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<default class="collision">
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<geom group="3" type="capsule"/>
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<default class="hip_left">
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<geom size="0.04 0.04" quat="1 1 0 0" type="cylinder" pos="0 0.055 0"/>
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</default>
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<default class="hip_right">
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<geom size="0.04 0.04" quat="1 1 0 0" type="cylinder" pos="0 -0.055 0"/>
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</default>
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<default class="thigh1">
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<geom size="0.015" fromto="-0.02 0 0 -0.02 0 -0.16"/>
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</default>
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<default class="thigh2">
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<geom size="0.015" fromto="0 0 0 -0.02 0 -0.1"/>
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</default>
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<default class="thigh3">
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<geom size="0.015" fromto="-0.02 0 -0.16 0 0 -0.2"/>
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</default>
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<default class="calf1">
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<geom size="0.01" fromto="0 0 0 0.02 0 -0.13"/>
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</default>
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<default class="calf2">
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<geom size="0.01" fromto="0.02 0 -0.13 0 0 -0.2"/>
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</default>
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<default class="foot">
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<geom type="sphere" size="0.02" pos="0 0 -0.2" priority="1" condim="6" friction="0.8 0.02 0.01"/>
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</default>
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</default>
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</default>
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</default>
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<asset>
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<material name="dark" specular="0" shininess="0.25" rgba="0.2 0.2 0.2 1"/>
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<texture type="2d" name="trunk_A1" file="trunk_A1.png"/>
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<material name="carbonfibre" texture="trunk_A1" specular="0" shininess="0.25"/>
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<mesh class="a1" file="calf.obj"/>
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<mesh class="a1" file="hip.obj"/>
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<mesh class="a1" file="thigh.obj"/>
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<mesh class="a1" file="thigh_mirror.obj"/>
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<mesh class="a1" file="trunk.obj"/>
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</asset>
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<worldbody>
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<light name="spotlight" mode="targetbodycom" target="trunk" pos="0 -1 2"/>
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<body name="trunk" pos="0 0 0.43" childclass="a1">
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<freejoint/>
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<inertial mass="4.713" pos="0 0.0041 -0.0005"
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fullinertia="0.0158533 0.0377999 0.0456542 -3.66e-05 -6.11e-05 -2.75e-05"/>
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<geom class="visual" mesh="trunk" material="carbonfibre"/>
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<geom class="collision" size="0.125 0.04 0.057" type="box"/>
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<geom class="collision" quat="1 0 1 0" pos="0 -0.04 0" size="0.058 0.125" type="cylinder"/>
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<geom class="collision" quat="1 0 1 0" pos="0 +0.04 0" size="0.058 0.125" type="cylinder"/>
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<geom class="collision" pos="0.25 0 0" size="0.005 0.06 0.05" type="box"/>
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<geom class="collision" pos="0.25 0.06 -0.01" size="0.009 0.035"/>
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<geom class="collision" pos="0.25 -0.06 -0.01" size="0.009 0.035"/>
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<geom class="collision" pos="0.25 0 -0.05" size="0.005 0.06" quat="1 1 0 0"/>
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<geom class="collision" pos="0.255 0 0.0355" size="0.021 0.052" quat="1 1 0 0"/>
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<body name="FR_hip" pos="0.183 -0.047 0">
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<inertial mass="0.696" pos="-0.003311 -0.000635 3.1e-05" quat="0.507528 0.506268 0.491507 0.494499"
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diaginertia="0.000807752 0.00055293 0.000468983"/>
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<joint class="abduction" name="FR_hip_joint"/>
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<geom class="visual" mesh="hip" quat="0 1 0 0"/>
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<geom class="hip_right"/>
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<body name="FR_thigh" pos="0 -0.08505 0">
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<inertial mass="1.013" pos="-0.003237 0.022327 -0.027326" quat="0.999125 -0.00256393 -0.0409531 -0.00806091"
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diaginertia="0.00555739 0.00513936 0.00133944"/>
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<joint class="hip" name="FR_thigh_joint"/>
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<geom class="visual" mesh="thigh_mirror"/>
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<geom class="thigh1"/>
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<geom class="thigh2"/>
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<geom class="thigh3"/>
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<body name="FR_calf" pos="0 0 -0.2">
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<inertial mass="0.226" pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886"
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diaginertia="0.00340344 0.00339393 3.54834e-05"/>
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<joint class="knee" name="FR_calf_joint"/>
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<geom class="visual" mesh="calf"/>
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<geom class="calf1"/>
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<geom class="calf2"/>
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<geom class="foot"/>
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</body>
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</body>
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</body>
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<body name="FL_hip" pos="0.183 0.047 0">
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<inertial mass="0.696" pos="-0.003311 0.000635 3.1e-05" quat="0.494499 0.491507 0.506268 0.507528"
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diaginertia="0.000807752 0.00055293 0.000468983"/>
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<joint class="abduction" name="FL_hip_joint"/>
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<geom class="visual" mesh="hip"/>
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<geom class="hip_left"/>
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<geom class="collision" size="0.04 0.04" pos="0 0.055 0" quat="1 1 0 0" type="cylinder"/>
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<body name="FL_thigh" pos="0 0.08505 0">
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<inertial mass="1.013" pos="-0.003237 -0.022327 -0.027326" quat="0.999125 0.00256393 -0.0409531 0.00806091"
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diaginertia="0.00555739 0.00513936 0.00133944"/>
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<joint class="hip" name="FL_thigh_joint"/>
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<geom class="visual" mesh="thigh"/>
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<geom class="thigh1"/>
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<geom class="thigh2"/>
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<geom class="thigh3"/>
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<body name="FL_calf" pos="0 0 -0.2">
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<inertial mass="0.226" pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886"
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diaginertia="0.00340344 0.00339393 3.54834e-05"/>
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<joint class="knee" name="FL_calf_joint"/>
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<geom class="visual" mesh="calf"/>
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<geom class="calf1"/>
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<geom class="calf2"/>
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<geom class="foot"/>
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</body>
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</body>
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</body>
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<body name="RR_hip" pos="-0.183 -0.047 0">
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<inertial mass="0.696" pos="0.003311 -0.000635 3.1e-05" quat="0.491507 0.494499 0.507528 0.506268"
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diaginertia="0.000807752 0.00055293 0.000468983"/>
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<joint class="abduction" name="RR_hip_joint"/>
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<geom class="visual" quat="0 0 0 -1" mesh="hip"/>
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<geom class="hip_right"/>
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<body name="RR_thigh" pos="0 -0.08505 0">
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<inertial mass="1.013" pos="-0.003237 0.022327 -0.027326" quat="0.999125 -0.00256393 -0.0409531 -0.00806091"
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diaginertia="0.00555739 0.00513936 0.00133944"/>
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<joint class="hip" name="RR_thigh_joint"/>
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<geom class="visual" mesh="thigh_mirror"/>
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<geom class="thigh1"/>
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<geom class="thigh2"/>
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<geom class="thigh3"/>
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<body name="RR_calf" pos="0 0 -0.2">
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<inertial mass="0.226" pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886"
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diaginertia="0.00340344 0.00339393 3.54834e-05"/>
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<joint class="knee" name="RR_calf_joint"/>
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<geom class="visual" mesh="calf"/>
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<geom class="calf1"/>
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<geom class="calf2"/>
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<geom class="foot"/>
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</body>
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</body>
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</body>
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<body name="RL_hip" pos="-0.183 0.047 0">
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<inertial mass="0.696" pos="0.003311 0.000635 3.1e-05" quat="0.506268 0.507528 0.494499 0.491507"
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diaginertia="0.000807752 0.00055293 0.000468983"/>
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<joint class="abduction" name="RL_hip_joint"/>
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<geom class="visual" quat="0 0 1 0" mesh="hip"/>
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<geom class="hip_left"/>
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<body name="RL_thigh" pos="0 0.08505 0">
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<inertial mass="1.013" pos="-0.003237 -0.022327 -0.027326" quat="0.999125 0.00256393 -0.0409531 0.00806091"
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diaginertia="0.00555739 0.00513936 0.00133944"/>
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<joint class="hip" name="RL_thigh_joint"/>
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<geom class="visual" mesh="thigh"/>
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<geom class="thigh1"/>
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<geom class="thigh2"/>
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<geom class="thigh3"/>
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<body name="RL_calf" pos="0 0 -0.2">
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<inertial mass="0.226" pos="0.00472659 0 -0.131975" quat="0.706886 0.017653 0.017653 0.706886"
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diaginertia="0.00340344 0.00339393 3.54834e-05"/>
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<joint class="knee" name="RL_calf_joint"/>
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<geom class="visual" mesh="calf"/>
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<geom class="calf1"/>
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<geom class="calf2"/>
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<geom class="foot"/>
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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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<actuator>
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<position class="abduction" name="FR_hip" joint="FR_hip_joint"/>
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<position class="hip" name="FR_thigh" joint="FR_thigh_joint"/>
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<position class="knee" name="FR_calf" joint="FR_calf_joint"/>
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<position class="abduction" name="FL_hip" joint="FL_hip_joint"/>
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<position class="hip" name="FL_thigh" joint="FL_thigh_joint"/>
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<position class="knee" name="FL_calf" joint="FL_calf_joint"/>
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<position class="abduction" name="RR_hip" joint="RR_hip_joint"/>
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<position class="hip" name="RR_thigh" joint="RR_thigh_joint"/>
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<position class="knee" name="RR_calf" joint="RR_calf_joint"/>
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<position class="abduction" name="RL_hip" joint="RL_hip_joint"/>
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<position class="hip" name="RL_thigh" joint="RL_thigh_joint"/>
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<position class="knee" name="RL_calf" joint="RL_calf_joint"/>
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</actuator>
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<keyframe>
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<key name="home" qpos="0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8"
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ctrl="0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8"/>
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</keyframe>
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</mujoco>
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