File size: 9,052 Bytes
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<mujoco model="humanoid">
<statistic extent="2" center="0 0 1"/>
<default>
<motor ctrlrange="-1 1" ctrllimited="true"/>
<default class="body">
<geom condim="1" friction="1.0 0.05 0.05" solimp=".9 .99 .003" solref=".015 1"/>
<joint limited="true" solimplimit="0 .99 .01"/>
</default>
</default>
<worldbody>
<geom name="floor" type="plane" conaffinity="1" size="100 100 .2" material="grid"/>
<body name="pelvis" pos="0 0 0" childclass="body">
<freejoint name="root"/>
<geom name="pelvis" type="sphere" pos="0 0 0.07" size=".09" density="2226"/>
<geom name="upper_waist" type="sphere" pos="0 0 0.205" size="0.07" density="2226"/>
<body name="torso" pos="0 0 0.236151">
<joint name="abdomen_x" type="hinge" axis="1 0 0" range="-60 60" stiffness="1000" damping="100" armature=".02"/>
<joint name="abdomen_y" type="hinge" axis="0 1 0" range="-60 90" stiffness="1000" damping="100" armature=".02"/>
<joint name="abdomen_z" type="hinge" axis="0 0 1" range="-70 70" stiffness="1000" damping="100" armature=".02"/>
<geom name="torso" type="sphere" pos="0 0 0.12" size="0.11" density="1794"/>
<geom name="right_clavicle" type="capsule" fromto="-0.0060125 -0.0457775 0.2287955 -0.016835 -0.128177 0.2376182" size=".045" density="1100"/>
<geom name="left_clavicle" type="capsule" fromto="-0.0060125 0.0457775 0.2287955 -0.016835 0.128177 0.2376182" size=".045" density="1100"/>
<body name="head" pos="0 0 0.223894">
<joint name="neck_x" type="hinge" axis="1 0 0" range="-50 50" stiffness="100" damping="10" armature=".01"/>
<joint name="neck_y" type="hinge" axis="0 1 0" range="-40 60" stiffness="100" damping="10" armature=".01"/>
<joint name="neck_z" type="hinge" axis="0 0 1" range="-45 45" stiffness="100" damping="10" armature=".01"/>
<geom name="head" type="sphere" pos="0 0 0.175" size="0.095" density="1081"/>
</body>
<body name="right_upper_arm" pos="-0.02405 -0.18311 0.24350">
<joint name="right_shoulder_x" type="hinge" axis="1 0 0" range="-110 140" stiffness="400" damping="40" armature=".02"/>
<joint name="right_shoulder_y" type="hinge" axis="0 1 0" range="-90 90" stiffness="400" damping="40" armature=".02"/>
<joint name="right_shoulder_z" type="hinge" axis="0 0 1" range="-60 160" stiffness="400" damping="40" armature=".02"/>
<geom name="right_upper_arm" type="capsule" fromto="0 -0.03 0 0 -0.23 0" size=".045" density="982"/>
<body name="right_lower_arm" pos="0 -0.274788 0">
<joint name="right_elbow" type="hinge" axis="0 0 1" range="0 160" stiffness="300" damping="30" armature=".01"/>
<geom name="right_lower_arm" type="capsule" fromto="0 -0.035 0 0 -0.1875 0" size="0.04" density="1056"/>
<body name="right_hand" pos="0 -0.258947 0">
<geom name="right_hand" type="sphere" size=".04" density="1865"/>
</body>
</body>
</body>
<body name="left_upper_arm" pos="-0.02405 0.18311 0.24350">
<joint name="left_shoulder_x" type="hinge" axis="1 0 0" range="-140 110" stiffness="400" damping="40" armature=".02"/>
<joint name="left_shoulder_y" type="hinge" axis="0 1 0" range="-90 90" stiffness="400" damping="40" armature=".02"/>
<joint name="left_shoulder_z" type="hinge" axis="0 0 1" range="-160 60" stiffness="400" damping="40" armature=".02"/>
<geom name="left_upper_arm" type="capsule" fromto="0 0.03 0 0 0.23 0" size="0.045" density="982"/>
<body name="left_lower_arm" pos="0 0.274788 0">
<joint name="left_elbow" type="hinge" axis="0 0 1" range="-160 0" stiffness="300" damping="30" armature=".01"/>
<geom name="left_lower_arm" type="capsule" fromto="0 0.035 0 0 0.1875 0" size="0.04" density="1056"/>
<body name="left_hand" pos="0 0.258947 0">
<geom name="left_hand" type="sphere" size=".04" density="1865"/>
</body>
</body>
</body>
</body>
<body name="right_thigh" pos="0 -0.084887 0">
<joint name="right_hip_x" type="hinge" axis="1 0 0" range="-60 30" stiffness="500" damping="50" armature=".02"/>
<joint name="right_hip_y" type="hinge" axis="0 1 0" range="-140 60" stiffness="500" damping="50" armature=".02"/>
<joint name="right_hip_z" type="hinge" axis="0 0 1" range="-60 60" stiffness="500" damping="50" armature=".02"/>
<geom name="right_thigh" type="capsule" fromto="0 0 -0.04 0 0 -0.36" size="0.055" density="1269"/>
<body name="right_shin" pos="0 0 -0.421546">
<joint name="right_knee" type="hinge" axis="0 1 0" range="0 160" stiffness="500" damping="50" armature=".02"/>
<geom name="right_shin" type="capsule" fromto="0 0 -0.03 0 0 -0.355" size=".05" density="1014"/>
<body name="right_foot" pos="0 0 -0.409870">
<joint name="right_ankle_x" type="hinge" axis="1 0 0" range="-30 30" stiffness="400" damping="40" armature=".01"/>
<joint name="right_ankle_y" type="hinge" axis="0 1 0" range="-55 55" stiffness="400" damping="40" armature=".01"/>
<joint name="right_ankle_z" type="hinge" axis="0 0 1" range="-40 40" stiffness="400" damping="40" armature=".01"/>
<geom name="right_foot" type="box" pos="0.045 0 -0.0225" size="0.0885 0.045 0.0275" density="1141"/>
</body>
</body>
</body>
<body name="left_thigh" pos="0 0.084887 0">
<joint name="left_hip_x" type="hinge" axis="1 0 0" range="-30 60" stiffness="500" damping="50" armature=".02"/>
<joint name="left_hip_y" type="hinge" axis="0 1 0" range="-140 60" stiffness="500" damping="50" armature=".02"/>
<joint name="left_hip_z" type="hinge" axis="0 0 1" range="-60 60" stiffness="500" damping="50" armature=".02"/>
<geom name="left_thigh" type="capsule" fromto="0 0 -0.04 0 0 -0.36" size=".055" density="1269"/>
<body name="left_shin" pos="0 0 -0.421546">
<joint name="left_knee" type="hinge" axis="0 1 0" range="0 160" stiffness="500" damping="50" armature=".02"/>
<geom name="left_shin" type="capsule" fromto="0 0 -0.03 0 0 -0.355" size=".05" density="1014"/>
<body name="left_foot" pos="0 0 -0.409870">
<joint name="left_ankle_x" type="hinge" axis="1 0 0" range="-30 30" stiffness="400" damping="40" armature=".01"/>
<joint name="left_ankle_y" type="hinge" axis="0 1 0" range="-55 55" stiffness="400" damping="40" armature=".01"/>
<joint name="left_ankle_z" type="hinge" axis="0 0 1" range="-40 40" stiffness="400" damping="40" armature=".01"/>
<geom name="left_foot" type="box" pos="0.045 0 -0.0225" size="0.0885 0.045 0.0275" density="1141"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name='abdomen_x' gear='200' joint='abdomen_x'/>
<motor name='abdomen_y' gear='200' joint='abdomen_y'/>
<motor name='abdomen_z' gear='200' joint='abdomen_z'/>
<motor name='neck_x' gear='50' joint='neck_x'/>
<motor name='neck_y' gear='50' joint='neck_y'/>
<motor name='neck_z' gear='50' joint='neck_z'/>
<motor name='right_shoulder_x' gear='100' joint='right_shoulder_x'/>
<motor name='right_shoulder_y' gear='100' joint='right_shoulder_y'/>
<motor name='right_shoulder_z' gear='100' joint='right_shoulder_z'/>
<motor name='right_elbow' gear='70' joint='right_elbow'/>
<motor name='left_shoulder_x' gear='100' joint='left_shoulder_x'/>
<motor name='left_shoulder_y' gear='100' joint='left_shoulder_y'/>
<motor name='left_shoulder_z' gear='100' joint='left_shoulder_z'/>
<motor name='left_elbow' gear='70' joint='left_elbow'/>
<motor name='right_hip_x' gear='200' joint='right_hip_x'/>
<motor name='right_hip_z' gear='200' joint='right_hip_z'/>
<motor name='right_hip_y' gear='200' joint='right_hip_y'/>
<motor name='right_knee' gear='150' joint='right_knee'/>
<motor name='right_ankle_x' gear='90' joint='right_ankle_x'/>
<motor name='right_ankle_y' gear='90' joint='right_ankle_y'/>
<motor name='right_ankle_z' gear='90' joint='right_ankle_z'/>
<motor name='left_hip_x' gear='200' joint='left_hip_x'/>
<motor name='left_hip_z' gear='200' joint='left_hip_z'/>
<motor name='left_hip_y' gear='200' joint='left_hip_y'/>
<motor name='left_knee' gear='150' joint='left_knee'/>
<motor name='left_ankle_x' gear='90' joint='left_ankle_x'/>
<motor name='left_ankle_y' gear='90' joint='left_ankle_y'/>
<motor name='left_ankle_z' gear='90' joint='left_ankle_z'/>
</actuator>
</mujoco>
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