Spaces:
Sleeping
Sleeping
| <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> | |