<mujoco model='cassie'>
<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='pelvis' pos='0 0 1.01'>
<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'/>
<!--上面是头6个的dof的定义,需要在所有dof之前-->
</body>
</worldbody>
</mujoco>
Mujoco-floating base模型的基座标的定义方式
于 2022-02-20 22:34:13 首次发布