Spaces:
Sleeping
Sleeping
File size: 12,020 Bytes
66c9c8a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 | <mujoco model="humanoid">
<statistic extent="2" center="0 0 1"/>
<option timestep="0.00555"/>
<default>
<motor ctrlrange="-1 1" ctrllimited="true"/>
<default class="body">
<geom type="capsule" condim="1" friction="1.0 0.05 0.05" solimp=".9 .99 .003" solref=".015 1" material="self"/>
<joint limited="true" type="hinge" damping="0.1" stiffness="5" armature=".007" solimplimit="0 .99 .01"/>
<site size=".04" group="3"/>
<default class="force-torque">
<site type="box" size=".01 .01 .02" rgba="1 0 0 1" />
</default>
<default class="touch">
<site type="capsule" rgba="0 0 1 .3"/>
</default>
</default>
</default>
<worldbody>
<geom name="floor" type="plane" conaffinity="1" size="100 100 .2" material="grid"/>
<body name="torso" pos="0 0 1.5" childclass="body">
<light name="top" pos="0 0 2" mode="trackcom"/>
<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"/>
<joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
<site name="root" class="force-torque"/>
<geom name="torso" type="capsule" fromto="0 -.07 0 0 .07 0" size=".07"/>
<geom name="upper_waist" type="capsule" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
<site name="torso" class="touch" type="box" pos="0 0 -.05" size=".075 .14 .13"/>
<geom name="head" type="sphere" size=".09" pos="0 0 .19"/>
<body name="lower_waist" pos="-.01 0 -.260" quat="1.000 0 -.002 0">
<geom name="lower_waist" type="capsule" fromto="0 -.06 0 0 .06 0" size=".06"/>
<site name="lower_waist" class="touch" size=".061 .06" zaxis="0 1 0"/>
<joint limited="true" name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" damping="5" stiffness="20" armature=".02"/>
<joint limited="true" name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" damping="5" stiffness="20" armature=".01"/>
<body name="pelvis" pos="0 0 -.165" quat="1.000 0 -.002 0">
<joint limited="true" name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" damping="5" stiffness="10" armature=".01"/>
<geom name="butt" type="capsule" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
<site name="butt" class="touch" size=".091 .07" pos="-.02 0 0" zaxis="0 1 0"/>
<body name="right_thigh" pos="0 -.1 -.04">
<site name="right_hip" class="force-torque"/>
<joint limited="true" name="right_hip_x" axis="1 0 0" range="-25 5" damping="5" stiffness="10" armature=".01"/>
<joint limited="true" name="right_hip_z" axis="0 0 1" range="-60 35" damping="5" stiffness="10" armature=".01"/>
<joint limited="true" name="right_hip_y" axis="0 1 0" range="-80 20" damping="5" stiffness="20" armature=".01"/>
<geom name="right_thigh" type="capsule" fromto="0 0 0 0 .01 -.34" size=".06"/>
<site name="right_thigh" class="touch" pos="0 .005 -.17" size=".061 .17" zaxis="0 -1 34"/>
<body name="right_shin" pos="0 .01 -.403">
<site name="right_knee" class="force-torque" pos="0 0 .02"/>
<joint limited="true" name="right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
<geom name="right_shin" type="capsule" fromto="0 0 0 0 0 -.3" size=".049"/>
<site name="right_shin" class="touch" pos="0 0 -.15" size=".05 .15"/>
<body name="right_foot" pos="0 0 -.39">
<site name="right_ankle" class="force-torque"/>
<joint limited="true" name="right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" damping="1.0" stiffness="2" armature=".006"/>
<joint limited="true" name="right_ankle_x" pos="0 0 .08" axis="1 0 .5" range="-50 50" damping="1.0" stiffness="2" armature=".006"/>
<geom name="right_right_foot" type="capsule" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
<geom name="left_right_foot" type="capsule" fromto="-.07 0 0 .14 .02 0" size=".027"/>
<site name="right_right_foot" class="touch" pos=".035 -.03 0" size=".03 .11" zaxis="21 -2 0"/>
<site name="left_right_foot" class="touch" pos=".035 .01 0" size=".03 .11" zaxis="21 2 0"/>
</body>
</body>
</body>
<body name="left_thigh" pos="0 .1 -.04">
<site name="left_hip" class="force-torque"/>
<joint limited="true" name="left_hip_x" axis="-1 0 0" range="-25 5" damping="5" stiffness="10" armature=".01"/>
<joint limited="true" name="left_hip_z" axis="0 0 -1" range="-60 35" damping="5" stiffness="10" armature=".01"/>
<joint limited="true" name="left_hip_y" axis="0 1 0" range="-80 20" damping="5" stiffness="20" armature=".01"/>
<geom name="left_thigh" type="capsule" fromto="0 0 0 0 -.01 -.34" size=".06"/>
<site name="left_thigh" class="touch" pos="0 -.005 -.17" size=".061 .17" zaxis="0 1 34"/>
<body name="left_shin" pos="0 -.01 -.403">
<site name="left_knee" class="force-torque" pos="0 0 .02"/>
<joint limited="true" name="left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
<geom name="left_shin" type="capsule" fromto="0 0 0 0 0 -.3" size=".049"/>
<site name="left_shin" class="touch" pos="0 0 -.15" size=".05 .15"/>
<body name="left_foot" pos="0 0 -.39">
<site name="left_ankle" class="force-torque"/>
<joint limited="true" name="left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" damping="1.0" stiffness="2" armature=".006"/>
<joint limited="true" name="left_ankle_x" pos="0 0 .08" axis="1 0 .5" range="-50 50" damping="1.0" stiffness="2" armature=".006"/>
<geom name="left_left_foot" type="capsule" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
<geom name="right_left_foot" type="capsule" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
<site name="right_left_foot" class="touch" pos=".035 -.01 0" size=".03 .11" zaxis="21 -2 0"/>
<site name="left_left_foot" class="touch" pos=".035 .03 0" size=".03 .11" zaxis="21 2 0"/>
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm" pos="0 -.17 .06">
<joint limited="true" name="right_shoulder1" axis="2 1 1" range="-60 60" damping="5" stiffness="10" armature=".01"/>
<joint limited="true" name="right_shoulder2" axis="0 -1 1" range="-60 60" damping="5" stiffness="10" armature=".01"/>
<geom name="right_upper_arm" type="capsule" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
<site name="right_upper_arm" class="touch" pos=".08 -.08 -.08" size=".041 .14" zaxis="1 -1 -1"/>
<body name="right_lower_arm" pos=".18 -.18 -.18">
<joint limited="true" name="right_elbow" axis="0 -1 1" range="-90 50" damping="1.0" stiffness="2" armature=".006"/>
<geom name="right_lower_arm" type="capsule" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
<site name="right_lower_arm" class="touch" pos=".09 .09 .09" size=".032 .14" zaxis="1 1 1"/>
<geom name="right_hand" type="sphere" size=".04" pos=".18 .18 .18"/>
</body>
</body>
<body name="left_upper_arm" pos="0 .17 .06">
<joint limited="true" name="left_shoulder1" axis="-2 1 -1" range="-60 60" damping="5" stiffness="10" armature=".01"/>
<joint limited="true" name="left_shoulder2" axis="0 -1 -1" range="-60 60" damping="5" stiffness="10" armature=".01"/>
<geom name="left_upper_arm" type="capsule" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
<site name="left_upper_arm" class="touch" pos=".08 .08 -.08" size=".041 .14" zaxis="1 1 -1"/>
<body name="left_lower_arm" pos=".18 .18 -.18">
<joint limited="true" name="left_elbow" axis="0 -1 -1" range="-90 50" damping="1.0" stiffness="2" armature=".006"/>
<geom name="left_lower_arm" type="capsule" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
<site name="left_lower_arm" class="touch" pos=".09 -.09 .09" size=".032 .14" zaxis="1 -1 1"/>
<geom name="left_hand" type="sphere" size=".04" pos=".18 -.18 .18"/>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name='abdomen_y' gear='67.5' joint='abdomen_y'/>
<motor name='abdomen_z' gear='67.5' joint='abdomen_z'/>
<motor name='abdomen_x' gear='67.5' joint='abdomen_x'/>
<motor name='right_hip_x' gear='45.0' joint='right_hip_x'/>
<motor name='right_hip_z' gear='45.0' joint='right_hip_z'/>
<motor name='right_hip_y' gear='135.0' joint='right_hip_y'/>
<motor name='right_knee' gear='90.0' joint='right_knee'/>
<motor name='right_ankle_x' gear='22.5' joint='right_ankle_x'/>
<motor name='right_ankle_y' gear='22.5' joint='right_ankle_y'/>
<motor name='left_hip_x' gear='45.0' joint='left_hip_x'/>
<motor name='left_hip_z' gear='45.0' joint='left_hip_z'/>
<motor name='left_hip_y' gear='135.0' joint='left_hip_y'/>
<motor name='left_knee' gear='90.0' joint='left_knee'/>
<motor name='left_ankle_x' gear='22.5' joint='left_ankle_x'/>
<motor name='left_ankle_y' gear='22.5' joint='left_ankle_y'/>
<motor name='right_shoulder1' gear='67.5' joint='right_shoulder1'/>
<motor name='right_shoulder2' gear='67.5' joint='right_shoulder2'/>
<motor name='right_elbow' gear='45.0' joint='right_elbow'/>
<motor name='left_shoulder1' gear='67.5' joint='left_shoulder1'/>
<motor name='left_shoulder2' gear='67.5' joint='left_shoulder2'/>
<motor name='left_elbow' gear='45.0' joint='left_elbow'/>
</actuator>
<sensor>
<subtreelinvel name="torso_subtreelinvel" body="torso"/>
<accelerometer name="torso_accel" site="root"/>
<velocimeter name="torso_vel" site="root"/>
<gyro name="torso_gyro" site="root"/>
<force name="left_ankle_force" site="left_ankle"/>
<force name="right_ankle_force" site="right_ankle"/>
<force name="left_knee_force" site="left_knee"/>
<force name="right_knee_force" site="right_knee"/>
<force name="left_hip_force" site="left_hip"/>
<force name="right_hip_force" site="right_hip"/>
<torque name="left_ankle_torque" site="left_ankle"/>
<torque name="right_ankle_torque" site="right_ankle"/>
<torque name="left_knee_torque" site="left_knee"/>
<torque name="right_knee_torque" site="right_knee"/>
<torque name="left_hip_torque" site="left_hip"/>
<torque name="right_hip_torque" site="right_hip"/>
<touch name="torso_touch" site="torso"/>
<touch name="head_touch" site="head"/>
<touch name="lower_waist_touch" site="lower_waist"/>
<touch name="butt_touch" site="butt"/>
<touch name="right_thigh_touch" site="right_thigh"/>
<touch name="right_shin_touch" site="right_shin"/>
<touch name="right_right_foot_touch" site="right_right_foot"/>
<touch name="left_right_foot_touch" site="left_right_foot"/>
<touch name="left_thigh_touch" site="left_thigh"/>
<touch name="left_shin_touch" site="left_shin"/>
<touch name="right_left_foot_touch" site="right_left_foot"/>
<touch name="left_left_foot_touch" site="left_left_foot"/>
<touch name="right_upper_arm_touch" site="right_upper_arm"/>
<touch name="right_lower_arm_touch" site="right_lower_arm"/>
<touch name="right_hand_touch" site="right_hand"/>
<touch name="left_upper_arm_touch" site="left_upper_arm"/>
<touch name="left_lower_arm_touch" site="left_lower_arm"/>
<touch name="left_hand_touch" site="left_hand"/>
</sensor>
</mujoco>
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