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Models:
Joel Williams
JoelW/
myo_sim
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[20044c]: / osl / myolegs_osl.xml

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<?xml version="1.0" ?>

<mujoco model="OSL_MyoLegs_v0.0.1">

<!-- =================================================

    Copyright 2024 Chun Kwang Tan, Elizabeth Wilson, Adan Yusseff Dominguez Ruiz, Vikash Kumar, Vittorio Caggiano, Huawei Wang

    Model   :: OSL MyoLeg (MuJoCoV2.0)

    Author  :: Chun Kwang Tan (cktan.neumove@gmail.com), Elizabeth Wilson (elizwils@umich.edu), Adan Yusseff Dominguez Ruiz (adanydr@outlook.com), Vikash Kumar, Vittorio Caggiano, Huawei Wang

    Original Author :: Vikash Kumar (vikashplus@gmail.com), Vittorio Caggiano, Huawei Wang

    source  :: https://github.com/MyoHub

    License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

====================================================== -->

    <include file="../scene/myosuite_scene_noPedestal.xml"/>

    <include file="../torso/assets/myotorso_rigid_assets.xml"/>

    <include file="../osl/assets/myolegs_osl_assets.xml"/>

    <compiler angle="radian" meshdir=".." texturedir=".."/>



    <asset>

        <hfield name="terrain" size="7 7 1 1" nrow="100" ncol="100"/>

    </asset>



    <worldbody>



        <geom name="terrain" type="hfield" hfield="terrain" pos="0 0 -1" material="matfloor" conaffinity="1" contype="1" rgba="1 1 1 0"/>

        <site name="pelvis_target" size="0.02" pos="0 0 .92" group="4"/>



        <body name="root" pos="0 0 1" euler="0 0 -1.57">

            <include file="../torso/assets/myotorso_rigid_chain.xml"/>

            <include file="../osl/assets/myolegs_osl_chain.xml"/>

            <freejoint name="root"/>

        </body>

    </worldbody>



    <keyframe>

        <key name='stand' qpos='0 0 .95 0.707388 0 0 -0.706825 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0'/>

        <key name='neutral_1' qpos='0 0 .92 0.707388 0 0 -0.706825 0.161153 -0.0279385 -0.041886 0 0 0 0 0.461137 0.334 0.161153 -0.0279385 -0.041886 0.00247908 0.00101098 0.461137 0.0275069 0.136817 0.334 -0.00117055 -0.000125295 -0.0302192 0.0395202 -0.194029'/>

        <key name='neutral_2' qpos='0 0 .9 0.707388 0 0 -0.706825 0.405648 -0.020957 -0.118677 0 0 0 0 0.7329 0.40143 0.405648 -0.020957 -0.118677 0.0039054 0.00122326 0.7329 0.0102961 0.215496 0.40143 -0.006982 -0.02618 -0.03738 0.0080579 -0.87272'/>

        <key name='osl_backward' qpos='0 0 0.86  0.7011 0.0923 0.0923 -0.7011     -0.233 -0.0279385 -0.041886 0 0 0 0 0.377 0.1672 0.785 -0.0279385 -0.041886 0.00247908 0.0010198 0.209 0.0275069 0.136817 -0.0524 -0.00117055 -0.000125295 -0.0302192 0.0395202 -0.194029' qvel='0 -1.2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0'/>

        <key name='osl_forward' qpos='0 0 0.86   0.7011 0.0923 0.0923 -0.7011    0.785 -0.0279385 -0.041886 0 0 0 0 0.209 -0.0524 -0.2326 -0.0279385 -0.041886 0.00247908 0.0010198 0.377 0.0275069 0.136817 0.1672 -0.00117055 -0.000125295 -0.0302192 0.0395202 -0.194029' qvel='0 -1.2 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0'/>

    </keyframe>



</mujoco>