-
Notifications
You must be signed in to change notification settings - Fork 0
/
cassie.xml
301 lines (287 loc) · 21.8 KB
/
cassie.xml
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
<!-- Cassie simulation model developed by the Dynamic Robotics Laboratory -->
<mujoco model='cassie'>
<compiler inertiafromgeom='auto' angle='degree' eulerseq='zyx' meshdir='cassie-stl-meshes'/>
<size nuser_actuator='1' nuser_sensor='1' nuser_geom='1'/>
<option timestep='0.0005' iterations='50' solver='PGS' gravity='0 0 -9.81'/>
<!-- Timestep is set to 0.0005 because our controller runs at 2 kHz -->
<!-- Larger values still have stable dynamics -->
<visual>
<quality shadowsize='4096'/>
<map znear='0.05'/>
</visual>
<default>
<joint limited='true'/>
<motor ctrllimited='true'/>
<geom contype='0' conaffinity='0' condim='1' solref='0.005 1'/>
<equality solref='0.005 1'/>
<default class='cassie'>
<geom material='cassie'/>
</default>
<default class='collision'>
<!-- User parameter for geoms is used to identify collision types -->
<geom material='collision' contype='1' user='2'/>
<default class='collision-left'>
<geom contype='2' conaffinity='4'/>
</default>
<default class='collision-right'>
<geom contype='4' conaffinity='2'/>
</default>
</default>
<default class='obstacle'>
<geom material='obstacle' condim='3' contype='8' conaffinity='15' user='1'/>
</default>
</default>
<asset>
<texture type='skybox' builtin='gradient' width='128' height='128' rgb1='0.4 0.6 0.8' rgb2='0 0 0'/>
<texture name='plane' type='2d' builtin='checker' rgb1='0.2 0.2 0.2' rgb2='0.3 0.3 0.3' width='512' height='512'/>
<material name='plane' reflectance='0.0' texture='plane' texrepeat='1 1' texuniform='true'/>
<material name='cassie' rgba='0.9 0.5 0.1 1'/>
<material name='collision' rgba='0.1 0.5 0.9 0'/>
<material name='obstacle' rgba='0.2 0.6 0.2 1'/>
<mesh name='cassie-pelvis' file='pelvis.stl'/>
<mesh name='left-hip-roll' file='hip-roll.stl'/>
<mesh name='left-hip-yaw' file='hip-yaw.stl'/>
<mesh name='left-hip-pitch' file='hip-pitch.stl'/>
<mesh name='left-achilles-rod' file='achilles-rod.stl'/>
<mesh name='left-knee' file='knee.stl'/>
<mesh name='left-knee-spring' file='knee-spring.stl'/>
<mesh name='left-shin' file='shin.stl'/>
<mesh name='left-tarsus' file='tarsus.stl'/>
<mesh name='left-heel-spring' file='heel-spring.stl'/>
<mesh name='left-foot-crank' file='foot-crank.stl'/>
<mesh name='left-plantar-rod' file='plantar-rod.stl'/>
<mesh name='left-foot' file='foot.stl'/>
<mesh name='right-hip-roll' scale='1 -1 1' file='hip-roll.stl'/>
<mesh name='right-hip-yaw' scale='1 -1 1' file='hip-yaw.stl'/>
<mesh name='right-hip-pitch' scale='1 1 -1' file='hip-pitch.stl'/>
<mesh name='right-achilles-rod' scale='1 1 -1' file='achilles-rod.stl'/>
<mesh name='right-knee' scale='1 1 -1' file='knee.stl'/>
<mesh name='right-knee-spring' scale='1 1 -1' file='knee-spring.stl'/>
<mesh name='right-shin' scale='1 1 -1' file='shin.stl'/>
<mesh name='right-tarsus' scale='1 1 -1' file='tarsus.stl'/>
<mesh name='right-heel-spring' scale='1 1 -1' file='heel-spring.stl'/>
<mesh name='right-foot-crank' scale='1 1 -1' file='foot-crank.stl'/>
<mesh name='right-plantar-rod' scale='1 1 -1' file='plantar-rod.stl'/>
<mesh name='right-foot' scale='1 1 -1' file='foot.stl'/>
</asset>
<worldbody>
<geom name='floor' pos='0.001 0 0' size='100 10 .125' type='plane' material='plane' condim='3' conaffinity='15'/>
<light mode='trackcom' pos='0 0 5' dir='0 0 -1'/>
<light directional='true' pos='0 0 3' dir='0 0 -1' diffuse='0.2 0.2 0.2' specular='0 0 0'/>
<body name='cassie-pelvis' pos='0 0 1.2' childclass='cassie'>
<camera name='track' pos='0 -3 1' zaxis='0 -1 0.5' mode='track'/>
<!--camera name='track' pos='-3 0 0' xyaxes='0 -1 0 0 0 1' mode='track'/-->
<inertial pos='0.05066 0.000346 0.02841' mass='10.33' fullinertia='0.085821 0.049222 0.08626 1.276e-05 -0.00016022 -0.000414'/>
<joint type='slide' axis='1 0 0' limited='false'/>
<joint type='slide' axis='0 1 0' limited='false'/>
<joint type='slide' axis='0 0 1' limited='false' ref='1.01'/>
<joint type='ball' limited='false'/>
<geom type='mesh' mesh='cassie-pelvis'/>
<geom type='sphere' size='0.15' pos='0.02 0 0.02' class='collision' group='1'/>
<site name='imu' size='0.01' pos='0.03155 0 -0.07996'/>
<site name='range1' type='cylinder' size='0.005 0.1 0.005' rgba='0.5 0.5 0.5 1' fromto='0 0 -0.1 0.02452 0 -0.10488'/>
<site name='range2' type='cylinder' size='0.005 0.1 0.005' rgba='0.5 0.5 0.5 1' fromto='0 0 -0.1 0.02031 0 -0.10957'/>
<site name='range3' type='cylinder' size='0.005 0.1 0.005' rgba='0.5 0.5 0.5 1' fromto='0 0 -0.1 0.02079 0 -0.11389'/>
<site name='range4' type='cylinder' size='0.005 0.1 0.005' rgba='0.5 0.5 0.5 1' fromto='0 0 -0.1 0.01768 0 -0.11768'/>
<site name='range5' type='cylinder' size='0.005 0.1 0.005' rgba='0.5 0.5 0.5 1' fromto='0 0 -0.1 0.01389 0 -0.12079'/>
<site name='range6' type='cylinder' size='0.005 0.1 0.005' rgba='0.5 0.5 0.5 1' fromto='0 0 -0.1 0.00957 0 -0.12310'/>
<body name='left-hip-roll' pos='0.021 0.135 0' xyaxes='0 0 -1 0 1 0'>
<inertial pos='-0.01793 0.0001 -0.04428' mass='1.82' fullinertia='0.003431 0.003793 0.002135 -6.65e-07 -0.00084 3.99e-06'/>
<joint name='left-hip-roll' type='hinge' range='-15 22.5' damping='1' armature='0.038125'/>
<geom type='mesh' mesh='left-hip-roll'/>
<body name='left-hip-yaw' pos='0 0 -0.07' xyaxes='0 0 1 0 1 0'>
<inertial pos='0 -1e-05 -0.034277' mass='1.171' fullinertia='0.002443 0.002803 0.000842 -4e-08 2.462e-07 -2.71e-08'/>
<joint name='left-hip-yaw' type='hinge' range='-22.5 22.5' damping='1' armature='0.038125'/>
<geom type='mesh' mesh='left-hip-yaw'/>
<body name='left-hip-pitch' pos='0 0 -0.09' xyaxes='0 0 -1 1 0 0'>
<inertial pos='0.05946 5e-05 -0.03581' mass='5.52' fullinertia='0.010898 0.029714 0.030257 -0.0002669 -5.721e-05 9.17e-06'/>
<joint name='left-hip-pitch' type='hinge' range='-50 80' damping='1' armature='0.09344'/>
<geom type='mesh' mesh='left-hip-pitch'/>
<geom type='capsule' size='0.08' fromto='0 0 -0.04 0.12 0 -0.0355' class='collision' group='1'/>
<body name='left-achilles-rod' pos='0 0 0.045' xyaxes='0.7922 -0.60599 -0.072096 0.60349 0.79547 -0.054922'>
<inertial pos='0.24719 0 0' mass='0.1567' fullinertia='3.754e-06 0.004487 0.004488 -3.74e-08 -1.61e-08 0'/>
<joint name='left-achilles-rod' type='ball' limited='false' damping='0.01'/>
<geom type='mesh' mesh='left-achilles-rod'/>
</body>
<body name='left-knee' pos='0.12 0 0.0045' xyaxes='0.70711 -0.70711 0 0.70711 0.70711 0'>
<inertial pos='0.023 0.03207 -0.002181' mass='0.7578' fullinertia='0.001376 0.0010335 0.0021637 -0.00039744 -4.085e-05 -5.374e-05'/>
<joint name='left-knee' type='hinge' ref='-45' range='-164 -37' damping='1' armature='0.09344'/>
<geom type='mesh' mesh='left-knee'/>
<body name='left-knee-spring' pos='0.06068 0.08241 0'>
<inertial pos='0.0836 0.0034 0' mass='0.186' fullinertia='5.215e-05 0.00041205 0.0003669 6.87e-06 0 0'/>
<geom type='mesh' mesh='left-knee-spring'/>
</body>
<body name='left-shin' pos='0.06068 0.04741 0'>
<inertial pos='0.18338 0.001169 0.0002123' mass='0.577' fullinertia='0.00035939 0.014728 0.014707 -0.00020981 2.266e-05 -1.2e-07'/>
<joint name='left-shin' type='hinge' range='-20 20' stiffness='1500' damping='0.1'/>
<geom type='mesh' mesh='left-shin'/>
<geom type='capsule' size='0.04' fromto='0 0 0 0.43476 0.02 0' class='collision-left' group='1'/>
<body name='left-tarsus' pos='0.43476 0.02 0' xyaxes='0.52992 0.84805 0 -0.84805 0.52992 0'>
<inertial pos='0.11046 -0.03058 -0.00131' mass='0.782' fullinertia='0.00039238 0.013595 0.013674 0.00023651 -4.987e-05 -4.82e-06'/>
<joint name='left-tarsus' type='hinge' ref='58' range='50 170' damping='0.1'/>
<geom type='mesh' mesh='left-tarsus'/>
<geom type='capsule' size='0.04' fromto='-0.01269 -0.03059 0.00092 0.408 -0.04 0' class='collision-left' group='1'/>
<body name='left-heel-spring' pos='-0.01269 -0.03059 0.00092' xyaxes='-0.91211 0.40829 0.036948 -0.40992 -0.90952 -0.068841'>
<inertial pos='0.081 0.0022 0' mass='0.126' fullinertia='2.959e-05 0.00022231 0.0002007 7.15e-06 -6e-07 1e-07'/>
<joint name='left-heel-spring' type='hinge' limited='false' stiffness='1250'/>
<geom type='mesh' mesh='left-heel-spring'/>
</body>
<body name='left-foot-crank' pos='0.058 -0.034 0.02275'>
<inertial pos='0.00493 2e-05 -0.00215' mass='0.1261' fullinertia='2.6941e-05 4.9621e-05 6.3362e-05 -2.1e-09 -3.9623e-06 -1.09e-08'/>
<joint name='left-foot-crank' type='hinge' range='-140 -30' damping='1'/>
<geom type='mesh' mesh='left-foot-crank'/>
<body name='left-plantar-rod' pos='0.055 0 -0.00791'>
<inertial pos='0.17792 0 0' mass='0.1186' fullinertia='2.779e-06 0.001774 0.001775 -2.34e-08 -8.1e-09 0'/>
<joint name='left-plantar-rod' type='hinge' limited='false'/>
<geom type='mesh' mesh='left-plantar-rod'/>
</body>
</body>
<body name='left-foot' pos='0.408 -0.04 0'>
<inertial pos='0.00474 0.02748 -0.00014' mass='0.1498' fullinertia='0.00017388 0.00016793 0.00033261 0.00011814 1.36e-06 -4e-07'/>
<joint name='left-foot' type='hinge' range='-140 -30' damping='1' armature='0.01225'/>
<geom type='mesh' mesh='left-foot'/>
<geom type='capsule' size='0.02' fromto='-0.052821 0.092622 0 0.069746 -0.010224 0' class='collision-left' group='1'/>
<site name="left-foot-pt" type="sphere" pos="0.01965 0.05375 0" size="0.005" rgba="0.7 0.2 0.1 1"/>
<site name="left-toe" type="sphere" pos="-0.052821 0.092622 0" size="0.005" rgba="0.7 0.2 0.1 1"/>
<site name="left-heel" type="sphere" pos="0.069746 -0.010224 0" size="0.005" rgba="0.7 0.2 0.1 1"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<body name='right-hip-roll' pos='0.021 -0.135 0' xyaxes='0 0 -1 0 1 0'>
<inertial pos='-0.01793 0.0001 -0.04428' mass='1.82' fullinertia='0.003431 0.003793 0.002135 6.65e-07 -0.00084 -3.99e-06'/>
<joint name='right-hip-roll' type='hinge' range='-22.5 15' damping='1' armature='0.038125'/>
<geom type='mesh' mesh='right-hip-roll'/>
<body name='right-hip-yaw' pos='0 0 -0.07' xyaxes='0 0 1 0 1 0'>
<inertial pos='0 1e-05 -0.034277' mass='1.171' fullinertia='0.002443 0.002803 0.000842 4e-08 2.462e-07 2.71e-08'/>
<joint name='right-hip-yaw' type='hinge' range='-22.5 22.5' damping='1' armature='0.038125'/>
<geom type='mesh' mesh='right-hip-yaw'/>
<body name='right-hip-pitch' pos='0 0 -0.09' xyaxes='0 0 -1 1 0 0'>
<inertial pos='0.05946 5e-05 0.03581' mass='5.52' fullinertia='0.010898 0.029714 0.030257 -0.0002669 5.721e-05 -9.17e-06'/>
<joint name='right-hip-pitch' type='hinge' range='-50 80' damping='1' armature='0.09344'/>
<geom type='mesh' mesh='right-hip-pitch'/>
<geom type='capsule' size='0.08' fromto='0 0 0.04 0.12 0 0.0355' class='collision' group='1'/>
<body name='right-achilles-rod' pos='0 0 -0.045' xyaxes='0.7922 -0.60599 0.072096 0.60349 0.79547 0.054922'>
<inertial pos='0.24719 0 0' mass='0.1567' fullinertia='3.754e-06 0.004487 0.004488 -3.74e-08 1.61e-08 0'/>
<joint name='right-achilles-rod' type='ball' limited='false' damping='0.01'/>
<geom type='mesh' mesh='right-achilles-rod'/>
</body>
<body name='right-knee' pos='0.12 0 -0.0045' xyaxes='0.70711 -0.70711 0 0.70711 0.70711 0'>
<inertial pos='0.023 0.03207 0.002181' mass='0.7578' fullinertia='0.001376 0.0010335 0.0021637 -0.00039744 4.085e-05 5.374e-05'/>
<joint name='right-knee' type='hinge' ref='-45' range='-164 -37' damping='1' armature='0.09344'/>
<geom type='mesh' mesh='right-knee'/>
<body name='right-knee-spring' pos='0.06068 0.08241 0'>
<inertial pos='0.0836 0.0034 0' mass='0.186' fullinertia='5.215e-05 0.00041205 0.0003669 6.87e-06 0 0'/>
<geom type='mesh' mesh='right-knee-spring'/>
</body>
<body name='right-shin' pos='0.06068 0.04741 0'>
<inertial pos='0.18338 0.001169 -0.0002123' mass='0.577' fullinertia='0.00035939 0.014728 0.014707 -0.00020981 -2.266e-05 1.2e-07'/>
<joint name='right-shin' type='hinge' range='-20 20' stiffness='1500' damping='0.1'/>
<geom type='mesh' mesh='right-shin'/>
<geom type='capsule' size='0.04' fromto='0 0 0 0.43476 0.02 0' class='collision-right' group='1'/>
<body name='right-tarsus' pos='0.43476 0.02 0' xyaxes='0.52992 0.84805 0 -0.84805 0.52992 0'>
<inertial pos='0.11046 -0.03058 0.00131' mass='0.782' fullinertia='0.00039238 0.013595 0.013674 0.00023651 4.987e-05 4.82e-06'/>
<joint name='right-tarsus' type='hinge' ref='58' range='50 170' damping='0.1'/>
<geom type='mesh' mesh='right-tarsus'/>
<geom type='capsule' size='0.04' fromto='-0.01269 -0.03059 -0.00092 0.408 -0.04 0' class='collision-right' group='1'/>
<body name='right-heel-spring' pos='-0.01269 -0.03059 -0.00092' xyaxes='-0.91211 0.40829 -0.036948 -0.40992 -0.90952 0.068841'>
<inertial pos='0.081 0.0022 0' mass='0.126' fullinertia='2.959e-05 0.00022231 0.0002007 7.15e-06 6e-07 -1e-07'/>
<joint name='right-heel-spring' type='hinge' limited='false' stiffness='1250'/>
<geom type='mesh' mesh='right-heel-spring'/>
</body>
<body name='right-foot-crank' pos='0.058 -0.034 -0.02275'>
<inertial pos='0.00493 2e-05 0.00215' mass='0.1261' fullinertia='2.6941e-05 4.9621e-05 6.3362e-05 -2.1e-09 3.9623e-06 1.09e-08'/>
<joint name='right-foot-crank' type='hinge' range='-140 -30' damping='1'/>
<geom type='mesh' mesh='right-foot-crank'/>
<body name='right-plantar-rod' pos='0.055 0 0.00791'>
<inertial pos='0.17792 0 0' mass='0.1186' fullinertia='2.779e-06 0.001774 0.001775 -2.34e-08 8.1e-09 0'/>
<joint name='right-plantar-rod' type='hinge' limited='false'/>
<geom type='mesh' mesh='right-plantar-rod'/>
</body>
</body>
<body name='right-foot' pos='0.408 -0.04 0'>
<inertial pos='0.00474 0.02748 0.00014' mass='0.1498' fullinertia='0.00017388 0.00016793 0.00033261 0.00011814 -1.36e-06 4e-07'/>
<joint name='right-foot' type='hinge' range='-140 -30' damping='1' armature='0.01225'/>
<geom type='mesh' mesh='right-foot'/>
<geom type='capsule' size='0.02' fromto='-0.052821 0.092622 0 0.069746 -0.010224 0' class='collision-right' group='1'/>
<site name="right-foot-pt" type="sphere" pos="0.01965 0.05375 0" size="0.005" rgba="0.1 0.7 0.2 1"/>
<site name="right-toe" type="sphere" pos="-0.052821 0.092622 0.0" size="0.005" rgba="0.1 0.7 0.2 1"/>
<site name="right-heel" type="sphere" pos="0.069746 -0.010224 0" size="0.005" rgba="0.1 0.7 0.2 1"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
<!-- Add any other moving bodies after the Cassie definition -->
<!-- Stairs -->
<geom name='box1' pos='1.1 20 0.01' size='1 1 1' type='box' condim='3' conaffinity='15' group='2'/>
<geom name='box2' pos='2.1 20 0.01' size='1 1 1' type='box' condim='3' conaffinity='15' group='2'/>
<geom name='box3' pos='3.1 20 0.01' size='1 1 1' type='box' condim='3' conaffinity='15' group='2'/>
<geom name='box4' pos='4.1 20 0.01' size='1 1 1' type='box' condim='3' conaffinity='15' group='2'/>
<geom name='box5' pos='5.1 20 0.01' size='1 1 1' type='box' condim='3' conaffinity='15' group='2'/>
<geom name='box6' pos='6.1 20 0.01' size='1 1 1' type='box' condim='3' conaffinity='15' group='2'/>
<geom name='box7' pos='7.1 20 0.01' size='1 1 1' type='box' condim='3' conaffinity='15' group='2'/>
<geom name='box8' pos='8.1 20 0.01' size='1 1 1' type='box' condim='3' conaffinity='15' group='2'/>
<geom name='box9' pos='9.1 20 0.01' size='1 1 1' type='box' condim='3' conaffinity='15' group='2'/>
<geom name='box10' pos='9.1 20 0.01' size='1 1 1' type='box' condim='3' conaffinity='15' group='2'/>
<geom name='box11' pos='9.1 20 0.01' size='1 1 1' type='box' condim='3' conaffinity='15' group='2'/>
<geom name='box12' pos='9.1 20 0.01' size='1 1 1' type='box' condim='3' conaffinity='15' group='2'/>
<geom name='box13' pos='9.1 20 0.01' size='1 1 1' type='box' condim='3' conaffinity='15' group='2'/>
<geom name='box14' pos='9.1 20 0.01' size='1 1 1' type='box' condim='3' conaffinity='15' group='2'/>
<geom name='box15' pos='9.1 20 0.01' size='1 1 1' type='box' condim='3' conaffinity='15' group='2'/>
</worldbody>
<equality>
<connect name = 'left-plantar-rod-eq' body1='left-plantar-rod' body2='left-foot' anchor='0.35012 0 0'/>
<connect name = 'left-achilles-rod-eq' body1='left-achilles-rod' body2='left-heel-spring' anchor='0.5012 0 0'/>
<connect name = 'right-plantar-rod-eq' body1='right-plantar-rod' body2='right-foot' anchor='0.35012 0 0'/>
<connect name = 'right-achilles-rod-eq' body1='right-achilles-rod' body2='right-heel-spring' anchor='0.5012 0 0'/>
</equality>
<actuator>
<!-- User parameter is the maximum no-load motor RPM -->
<motor name='left-hip-roll' joint='left-hip-roll' gear='25' ctrllimited='true' ctrlrange='-4.5 4.5' user='2900'/>
<motor name='left-hip-yaw' joint='left-hip-yaw' gear='25' ctrllimited='true' ctrlrange='-4.5 4.5' user='2900'/>
<motor name='left-hip-pitch' joint='left-hip-pitch' gear='16' ctrllimited='true' ctrlrange='-12.2 12.2' user='1300'/>
<motor name='left-knee' joint='left-knee' gear='16' ctrllimited='true' ctrlrange='-12.2 12.2' user='1300'/>
<motor name='left-foot' joint='left-foot' gear='50' ctrllimited='true' ctrlrange='-0.9 0.9' user='5500'/>
<motor name='right-hip-roll' joint='right-hip-roll' gear='25' ctrllimited='true' ctrlrange='-4.5 4.5' user='2900'/>
<motor name='right-hip-yaw' joint='right-hip-yaw' gear='25' ctrllimited='true' ctrlrange='-4.5 4.5' user='2900'/>
<motor name='right-hip-pitch' joint='right-hip-pitch' gear='16' ctrllimited='true' ctrlrange='-12.2 12.2' user='1300'/>
<motor name='right-knee' joint='right-knee' gear='16' ctrllimited='true' ctrlrange='-12.2 12.2' user='1300'/>
<motor name='right-foot' joint='right-foot' gear='50' ctrllimited='true' ctrlrange='-0.9 0.9' user='5500'/>
</actuator>
<sensor>
<!-- User parameter is the number of absolute encoder bits -->
<actuatorpos name='left-hip-roll-input' actuator='left-hip-roll' user='13'/>
<actuatorpos name='left-hip-yaw-input' actuator='left-hip-yaw' user='13'/>
<actuatorpos name='left-hip-pitch-input' actuator='left-hip-pitch' user='13'/>
<actuatorpos name='left-knee-input' actuator='left-knee' user='13'/>
<actuatorpos name='left-foot-input' actuator='left-foot' user='18'/>
<jointpos name='left-shin-output' joint='left-shin' user='18' noise='2e-4'/>
<jointpos name='left-tarsus-output' joint='left-tarsus' user='18' noise='2e-4'/>
<jointpos name='left-foot-output' joint='left-foot' user='13'/>
<actuatorpos name='right-hip-roll-input' actuator='right-hip-roll' user='13'/>
<actuatorpos name='right-hip-yaw-input' actuator='right-hip-yaw' user='13'/>
<actuatorpos name='right-hip-pitch-input' actuator='right-hip-pitch' user='13'/>
<actuatorpos name='right-knee-input' actuator='right-knee' user='13'/>
<actuatorpos name='right-foot-input' actuator='right-foot' user='18'/>
<jointpos name='right-shin-output' joint='right-shin' user='18' noise='2e-4'/>
<jointpos name='right-tarsus-output' joint='right-tarsus' user='18' noise='2e-4'/>
<jointpos name='right-foot-output' joint='right-foot' user='13'/>
<framequat name='pelvis-orientation' objtype='site' objname='imu'/>
<gyro name='pelvis-angular-velocity' site='imu' noise='5e-4' cutoff='34.9'/>
<accelerometer name='pelvis-linear-acceleration' site='imu' noise='1e-2' cutoff='157'/>
<magnetometer name='pelvis-magnetometer' site='imu'/>
<!-- <rangefinder name='range1' site='range1' noise='1e-2' cutoff='1'/>
<rangefinder name='range2' site='range2' noise='1e-2' cutoff='1'/>
<rangefinder name='range3' site='range3' noise='1e-2' cutoff='1'/>
<rangefinder name='range4' site='range4' noise='1e-2' cutoff='1'/>
<rangefinder name='range5' site='range5' noise='1e-2' cutoff='1'/>
<rangefinder name='range6' site='range6' noise='1e-2' cutoff='1'/> -->
</sensor>
</mujoco>