<!--  ================= CELLROBOT =================
      CR_quadruped_v1_A001
      -四足构型
      -仿真参数 : step = 0.005
      -特点:
        -具有5个运动关节,二层足底cell没有关节
        -有偏心
        -平行接法

      =============================================
/-->
<mujoco model="CR_quadruped_v1_A001">
  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
  <option integrator="RK4" timestep="0.005" />

  <default>
    <joint armature="1" damping="1" limited="true"/>
     <geom conaffinity="0" condim="1" density="5" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/>
  </default>

  <asset>
    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
    <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
    <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
    <material name="geom" texture="texgeom" texuniform="true"/>
  </asset>

  <worldbody>
    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
    <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
          <!--  ================= CELLROBOT ================= /-->
    <body name="torso" pos="0 0 5.2">
      <geom name="Heart" pos="0 0 0" size="0.25" type="sphere" />
      <joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
      <body name="head" pos="-0.26 -0.26 -0.26">
        <geom name="headL" pos="0 0 0" size="0.25" type="sphere"/>
        <body name="front_left_leg" pos="0.26 0.26 -0.26">
          <geom name="cell_1L" pos="0 0 0" size="0.25" type="sphere"/>
          <body name="cell1" pos="0 0 0">
            <geom name="cell_1R" pos="0 0 0" size="0.25" type="sphere"/>
            <joint axis="1 0 0" name="r1" pos="0 0 0"  range="-30 30" type="hinge"/>
            <body name="cell5" pos="0.26 0.26 -0.26">
              <geom name="cell5" pos="0 0 0" size="0.25" type="sphere"/>
            </body>
          </body>
      </body>
        <body name="front_right_leg" pos="0.26 -0.26 -0.26">
          <geom name="cell_2L" pos="0 0 0" size="0.25" type="sphere"/>
          <body name="cell2" pos="0 0 0">
            <geom name="cell_2R" pos="0 0 0" size="0.25" type="sphere"/>
            <joint axis="1 0 0" name="r2" pos="0 0 0"  range="-30 30" type="hinge"/>
            <body name="cell6" pos="0.26 -0.26 -0.26">
              <geom name="cell6" pos="0 0 0" size="0.25" type="sphere"/>
            </body>
          </body>
      </body>
        <body name="headR" pos="0 0 0">
          <geom name="headR" pos="0 0 0" size="0.25" type="sphere"/>
          <joint axis="1 0 0" name="r0" pos="0 0 0"  range="-30 30" type="hinge"/>
          <body name="back_right_leg" pos="-0.26 -0.26 -0.26">
            <geom name="cell_3L" pos="0 0 0" size="0.25" type="sphere"/>
            <body name="cell3" pos="0 0 0">
              <geom name="cell_3R" pos="0 0 0" size="0.25" type="sphere"/>
              <joint axis="1 0 0" name="r3" pos="0 0 0"  range="-30 30" type="hinge"/>
              <body name="cell7" pos="-0.26 -0.26 -0.26">
                <geom name="cell7" pos="0 0 0" size="0.25" type="sphere"/>
              </body>
          </body>
      </body>
          <body name="back_left_leg" pos="-0.26 0.26 -0.26">
            <geom name="cell_4L" pos="0 0 0" size="0.25" type="sphere"/>
            <body name="cell4" pos="0 0 0">
              <geom name="cell_4R" pos="0 0 0" size="0.25" type="sphere"/>
              <joint axis="1 0 0" name="r4" pos="0 0 0"  range="-30 30" type="hinge"/>
              <body name="cell8" pos="-0.26 0.26 -0.26">
                <geom name="cell8" pos="0 0 0" size="0.25" type="sphere"/>
              </body>
          </body>

      </body>
        </body>
      </body>
    </body>


  </worldbody>
  <actuator>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="r0" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="r1" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="r2" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="r3" gear="150"/>
    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="r4" gear="150"/>
  </actuator>

</mujoco>
