| | <mujoco model="Humanoid"> |
| | <option timestep="0.005"/> |
| |
|
| | <visual> |
| | <map force="0.1" zfar="30"/> |
| | <rgba haze="0.15 0.25 0.35 1"/> |
| | <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/> |
| | </visual> |
| |
|
| | <statistic center="0 0 0.7"/> |
| |
|
| | <asset> |
| | <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/> |
| | <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/> |
| | <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/> |
| | <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/> |
| | <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/> |
| | </asset> |
| |
|
| | <default> |
| | <motor ctrlrange="-1 1" ctrllimited="true"/> |
| | <default class="body"> |
| |
|
| | |
| | <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/> |
| | <default class="thigh"> |
| | <geom size=".06"/> |
| | </default> |
| | <default class="shin"> |
| | <geom fromto="0 0 0 0 0 -.3" size=".049"/> |
| | </default> |
| | <default class="foot"> |
| | <geom size=".027"/> |
| | <default class="foot1"> |
| | <geom fromto="-.07 -.01 0 .14 -.03 0"/> |
| | </default> |
| | <default class="foot2"> |
| | <geom fromto="-.07 .01 0 .14 .03 0"/> |
| | </default> |
| | </default> |
| | <default class="arm_upper"> |
| | <geom size=".04"/> |
| | </default> |
| | <default class="arm_lower"> |
| | <geom size=".031"/> |
| | </default> |
| | <default class="hand"> |
| | <geom type="sphere" size=".04"/> |
| | </default> |
| |
|
| | |
| | <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/> |
| | <default class="joint_big"> |
| | <joint damping="5" stiffness="10"/> |
| | <default class="hip_x"> |
| | <joint range="-30 10"/> |
| | </default> |
| | <default class="hip_z"> |
| | <joint range="-60 35"/> |
| | </default> |
| | <default class="hip_y"> |
| | <joint axis="0 1 0" range="-150 20"/> |
| | </default> |
| | <default class="joint_big_stiff"> |
| | <joint stiffness="20"/> |
| | </default> |
| | </default> |
| | <default class="knee"> |
| | <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/> |
| | </default> |
| | <default class="ankle"> |
| | <joint range="-50 50"/> |
| | <default class="ankle_y"> |
| | <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/> |
| | </default> |
| | <default class="ankle_x"> |
| | <joint pos="0 0 .04" stiffness="3"/> |
| | </default> |
| | </default> |
| | <default class="shoulder"> |
| | <joint range="-85 60"/> |
| | </default> |
| | <default class="elbow"> |
| | <joint range="-100 50" stiffness="0"/> |
| | </default> |
| | </default> |
| | </default> |
| |
|
| | <worldbody> |
| | <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/> |
| | <light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/> |
| | <light name="top" pos="0 0 2" mode="trackcom"/> |
| | <body name="torso" pos="0 0 1.282" childclass="body"> |
| | <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/> |
| | <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/> |
| | <freejoint name="root"/> |
| | <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/> |
| | <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/> |
| | <body name="head" pos="0 0 .19"> |
| | <geom name="head" type="sphere" size=".09"/> |
| | <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/> |
| | </body> |
| | <body name="waist_lower" pos="-.01 0 -.26"> |
| | <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/> |
| | <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/> |
| | <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/> |
| | <body name="pelvis" pos="0 0 -.165"> |
| | <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/> |
| | <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/> |
| | <body name="thigh_right" pos="0 -.1 -.04"> |
| | <joint name="hip_x_right" axis="1 0 0" class="hip_x"/> |
| | <joint name="hip_z_right" axis="0 0 1" class="hip_z"/> |
| | <joint name="hip_y_right" class="hip_y"/> |
| | <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/> |
| | <body name="shin_right" pos="0 .01 -.4"> |
| | <joint name="knee_right" class="knee"/> |
| | <geom name="shin_right" class="shin"/> |
| | <body name="foot_right" pos="0 0 -.39"> |
| | <joint name="ankle_y_right" class="ankle_y"/> |
| | <joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/> |
| | <geom name="foot1_right" class="foot1"/> |
| | <geom name="foot2_right" class="foot2"/> |
| | </body> |
| | </body> |
| | </body> |
| | <body name="thigh_left" pos="0 .1 -.04"> |
| | <joint name="hip_x_left" axis="-1 0 0" class="hip_x"/> |
| | <joint name="hip_z_left" axis="0 0 -1" class="hip_z"/> |
| | <joint name="hip_y_left" class="hip_y"/> |
| | <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/> |
| | <body name="shin_left" pos="0 -.01 -.4"> |
| | <joint name="knee_left" class="knee"/> |
| | <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/> |
| | <body name="foot_left" pos="0 0 -.39"> |
| | <joint name="ankle_y_left" class="ankle_y"/> |
| | <joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/> |
| | <geom name="foot1_left" class="foot1"/> |
| | <geom name="foot2_left" class="foot2"/> |
| | </body> |
| | </body> |
| | </body> |
| | </body> |
| | </body> |
| | <body name="upper_arm_right" pos="0 -.17 .06"> |
| | <joint name="shoulder1_right" axis="2 1 1" class="shoulder"/> |
| | <joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/> |
| | <geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/> |
| | <body name="lower_arm_right" pos=".18 -.18 -.18"> |
| | <joint name="elbow_right" axis="0 -1 1" class="elbow"/> |
| | <geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/> |
| | <body name="hand_right" pos=".18 .18 .18"> |
| | <geom name="hand_right" zaxis="1 1 1" class="hand"/> |
| | </body> |
| | </body> |
| | </body> |
| | <body name="upper_arm_left" pos="0 .17 .06"> |
| | <joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/> |
| | <joint name="shoulder2_left" axis="0 -1 -1" class="shoulder"/> |
| | <geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/> |
| | <body name="lower_arm_left" pos=".18 .18 -.18"> |
| | <joint name="elbow_left" axis="0 -1 -1" class="elbow"/> |
| | <geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/> |
| | <body name="hand_left" pos=".18 -.18 .18"> |
| | <geom name="hand_left" zaxis="1 -1 1" class="hand"/> |
| | </body> |
| | </body> |
| | </body> |
| | </body> |
| | </worldbody> |
| |
|
| | <contact> |
| | <exclude body1="waist_lower" body2="thigh_right"/> |
| | <exclude body1="waist_lower" body2="thigh_left"/> |
| | </contact> |
| |
|
| | <tendon> |
| | <fixed name="hamstring_right" limited="true" range="-0.3 2"> |
| | <joint joint="hip_y_right" coef=".5"/> |
| | <joint joint="knee_right" coef="-.5"/> |
| | </fixed> |
| | <fixed name="hamstring_left" limited="true" range="-0.3 2"> |
| | <joint joint="hip_y_left" coef=".5"/> |
| | <joint joint="knee_left" coef="-.5"/> |
| | </fixed> |
| | </tendon> |
| |
|
| | <actuator> |
| | <motor name="abdomen_z" gear="40" joint="abdomen_z"/> |
| | <motor name="abdomen_y" gear="40" joint="abdomen_y"/> |
| | <motor name="abdomen_x" gear="40" joint="abdomen_x"/> |
| | <motor name="hip_x_right" gear="40" joint="hip_x_right"/> |
| | <motor name="hip_z_right" gear="40" joint="hip_z_right"/> |
| | <motor name="hip_y_right" gear="120" joint="hip_y_right"/> |
| | <motor name="knee_right" gear="80" joint="knee_right"/> |
| | <motor name="ankle_y_right" gear="20" joint="ankle_y_right"/> |
| | <motor name="ankle_x_right" gear="20" joint="ankle_x_right"/> |
| | <motor name="hip_x_left" gear="40" joint="hip_x_left"/> |
| | <motor name="hip_z_left" gear="40" joint="hip_z_left"/> |
| | <motor name="hip_y_left" gear="120" joint="hip_y_left"/> |
| | <motor name="knee_left" gear="80" joint="knee_left"/> |
| | <motor name="ankle_y_left" gear="20" joint="ankle_y_left"/> |
| | <motor name="ankle_x_left" gear="20" joint="ankle_x_left"/> |
| | <motor name="shoulder1_right" gear="20" joint="shoulder1_right"/> |
| | <motor name="shoulder2_right" gear="20" joint="shoulder2_right"/> |
| | <motor name="elbow_right" gear="40" joint="elbow_right"/> |
| | <motor name="shoulder1_left" gear="20" joint="shoulder1_left"/> |
| | <motor name="shoulder2_left" gear="20" joint="shoulder2_left"/> |
| | <motor name="elbow_left" gear="40" joint="elbow_left"/> |
| | </actuator> |
| |
|
| | <keyframe> |
| | |
| | |
| | |
| | |
| | |
| | |
| | |
| | |
| | |
| | <key name="squat" |
| | qpos="0 0 0.596 |
| | 0.988015 0 0.154359 0 |
| | 0 0.4 0 |
| | -0.25 -0.5 -2.5 -2.65 -0.8 0.56 |
| | -0.25 -0.5 -2.5 -2.65 -0.8 0.56 |
| | 0 0 0 0 0 0"/> |
| | <key name="stand_on_left_leg" |
| | qpos="0 0 1.21948 |
| | 0.971588 -0.179973 0.135318 -0.0729076 |
| | -0.0516 -0.202 0.23 |
| | -0.24 -0.007 -0.34 -1.76 -0.466 -0.0415 |
| | -0.08 -0.01 -0.37 -0.685 -0.35 -0.09 |
| | 0.109 -0.067 -0.7 -0.05 0.12 0.16"/> |
| | <key name="prone" |
| | qpos="0.4 0 0.0757706 |
| | 0.7325 0 0.680767 0 |
| | 0 0.0729 0 |
| | 0.0077 0.0019 -0.026 -0.351 -0.27 0 |
| | 0.0077 0.0019 -0.026 -0.351 -0.27 0 |
| | 0.56 -0.62 -1.752 |
| | 0.56 -0.62 -1.752"/> |
| | <key name="supine" |
| | qpos="-0.4 0 0.08122 |
| | 0.722788 0 -0.69107 0 |
| | 0 -0.25 0 |
| | 0.0182 0.0142 0.3 0.042 -0.44 -0.02 |
| | 0.0182 0.0142 0.3 0.042 -0.44 -0.02 |
| | 0.186 -0.73 -1.73 |
| | 0.186 -0.73 -1.73"/> |
| | </keyframe> |
| | </mujoco> |
| |
|
