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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,214 @@ | ||
| <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"/> | ||
| <joint type="hinge" damping="0.1" stiffness="5" armature=".007" limited="true" 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="pelvis" pos="0 0 1" childclass="body"> | ||
| <freejoint name="root"/> | ||
| <site name="root" class="force-torque"/> | ||
| <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"/> | ||
| <site name="pelvis" class="touch" type="sphere" pos="0 0 0.07" size="0.091"/> | ||
| <site name="upper_waist" class="touch" type="sphere" pos="0 0 0.205" size="0.071"/> | ||
|
|
||
| <body name="torso" pos="0 0 0.236151"> | ||
| <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 name="abdomen_x" pos="0 0 0" axis="1 0 0" range="-60 60" stiffness="600" damping="60" armature=".025"/> | ||
| <joint name="abdomen_y" pos="0 0 0" axis="0 1 0" range="-60 90" stiffness="600" damping="60" armature=".025"/> | ||
| <joint name="abdomen_z" pos="0 0 0" axis="0 0 1" range="-50 50" stiffness="600" damping="60" armature=".025"/> | ||
| <geom name="torso" type="sphere" pos="0 0 0.12" size="0.11" density="1794"/> | ||
| <site name="torso" class="touch" type="sphere" pos="0 0 0.12" size="0.111"/> | ||
|
|
||
| <geom name="right_clavicle" fromto="-0.0060125 -0.0457775 0.2287955 -0.016835 -0.128177 0.2376182" size=".045" density="1100"/> | ||
| <geom name="left_clavicle" 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" axis="1 0 0" range="-50 50" stiffness="50" damping="5" armature=".017"/> | ||
| <joint name="neck_y" axis="0 1 0" range="-40 60" stiffness="50" damping="5" armature=".017"/> | ||
| <joint name="neck_z" axis="0 0 1" range="-45 45" stiffness="50" damping="5" armature=".017"/> | ||
| <geom name="head" type="sphere" pos="0 0 0.175" size="0.095" density="1081"/> | ||
| <site name="head" class="touch" pos="0 0 0.175" type="sphere" size="0.103"/> | ||
| <camera name="egocentric" pos=".103 0 0.175" xyaxes="0 -1 0 .1 0 1" fovy="80"/> | ||
| </body> | ||
|
|
||
| <body name="right_upper_arm" pos="-0.02405 -0.18311 0.24350"> | ||
| <joint name="right_shoulder_x" axis="1 0 0" range="-180 45" stiffness="200" damping="20" armature=".02"/> | ||
| <joint name="right_shoulder_y" axis="0 1 0" range="-180 60" stiffness="200" damping="20" armature=".02"/> | ||
| <joint name="right_shoulder_z" axis="0 0 1" range="-90 90" stiffness="200" damping="20" armature=".02"/> | ||
| <geom name="right_upper_arm" fromto="0 0 -0.05 0 0 -0.23" size=".045" density="982"/> | ||
| <site name="right_upper_arm" class="touch" pos="0 0 -0.14" size="0.046 0.1" zaxis="0 0 1"/> | ||
|
|
||
| <body name="right_lower_arm" pos="0 0 -0.274788"> | ||
| <joint name="right_elbow" axis="0 1 0" range="-160 0" stiffness="150" damping="15" armature=".015"/> | ||
| <geom name="right_lower_arm" fromto="0 0 -0.0525 0 0 -0.1875" size="0.04" density="1056"/> | ||
| <site name="right_lower_arm" class="touch" pos="0 0 -0.12" size="0.041 0.0685" zaxis="0 1 0"/> | ||
|
|
||
| <body name="right_hand" pos="0 0 -0.258947"> | ||
| <geom name="right_hand" type="sphere" size=".04" density="1865"/> | ||
| <site name="right_hand" class="touch" type="sphere" size=".041"/> | ||
| </body> | ||
| </body> | ||
| </body> | ||
|
|
||
| <body name="left_upper_arm" pos="-0.02405 0.18311 0.24350"> | ||
| <joint name="left_shoulder_x" axis="1 0 0" range="-45 180" stiffness="200" damping="20" armature=".02"/> | ||
| <joint name="left_shoulder_y" axis="0 1 0" range="-180 60" stiffness="200" damping="20" armature=".02"/> | ||
| <joint name="left_shoulder_z" axis="0 0 1" range="-90 90" stiffness="200" damping="20" armature=".02"/> | ||
| <geom name="left_upper_arm" fromto="0 0 -0.05 0 0 -0.23" size="0.045" density="982"/> | ||
| <site name="left_upper_arm" class="touch" pos="0 0 -0.14" size="0.046 0.1" zaxis="0 0 1"/> | ||
|
|
||
| <body name="left_lower_arm" pos="0 0 -0.274788"> | ||
| <joint name="left_elbow" axis="0 1 0" range="-160 0" stiffness="150" damping="15" armature=".015"/> | ||
| <geom name="left_lower_arm" fromto="0 0 -0.0525 0 0 -0.1875" size="0.04" density="1056"/> | ||
| <site name="left_lower_arm" class="touch" pos="0 0 -0.1" size="0.041 0.0685" zaxis="0 0 1"/> | ||
|
|
||
| <body name="left_hand" pos="0 0 -0.258947"> | ||
| <geom name="left_hand" type="sphere" size=".04" density="1865"/> | ||
| <site name="left_hand" class="touch" type="sphere" size=".041"/> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
|
|
||
| <body name="right_thigh" pos="0 -0.084887 0"> | ||
| <site name="right_hip" class="force-torque"/> | ||
| <joint name="right_hip_x" axis="1 0 0" range="-60 15" stiffness="300" damping="30" armature=".02"/> | ||
| <joint name="right_hip_y" axis="0 1 0" range="-140 60" stiffness="300" damping="30" armature=".02"/> | ||
| <joint name="right_hip_z" axis="0 0 1" range="-60 35" stiffness="300" damping="30" armature=".02"/> | ||
| <geom name="right_thigh" fromto="0 0 -0.06 0 0 -0.36" size="0.055" density="1269"/> | ||
| <site name="right_thigh" class="touch" pos="0 0 -0.21" size="0.056 0.301" zaxis="0 0 -1"/> | ||
|
|
||
| <body name="right_shin" pos="0 0 -0.421546"> | ||
| <site name="right_knee" class="force-torque" pos="0 0 0"/> | ||
| <joint name="right_knee" pos="0 0 0" axis="0 1 0" range="0 160" stiffness="300" damping="30" armature=".02"/> | ||
| <geom name="right_shin" fromto="0 0 -0.045 0 0 -0.355" size=".05" density="1014"/> | ||
| <site name="right_shin" class="touch" pos="0 0 -0.2" size="0.051 0.156" zaxis="0 0 -1"/> | ||
|
|
||
| <body name="right_foot" pos="0 0 -0.409870"> | ||
| <site name="right_ankle" class="force-torque"/> | ||
| <joint name="right_ankle_x" pos="0 0 0" axis="1 0 0" range="-30 30" stiffness="200" damping="20" armature=".01"/> | ||
| <joint name="right_ankle_y" pos="0 0 0" axis="0 1 0" range="-55 55" stiffness="200" damping="20" armature=".01"/> | ||
| <joint name="right_ankle_z" pos="0 0 0" axis="0 0 1" range="-40 40" stiffness="200" damping="20" armature=".01"/> | ||
| <geom name="right_foot" type="box" pos="0.045 0 -0.0225" size="0.0885 0.045 0.0275" density="1141"/> | ||
| <site name="right_foot" class="touch" type="box" pos="0.045 0 -0.0225" size="0.0895 0.055 0.0285"/> | ||
| </body> | ||
| </body> | ||
| </body> | ||
|
|
||
| <body name="left_thigh" pos="0 0.084887 0"> | ||
| <site name="left_hip" class="force-torque"/> | ||
| <joint name="left_hip_x" axis="1 0 0" range="-15 60" stiffness="300" damping="30" armature=".02"/> | ||
| <joint name="left_hip_y" axis="0 1 0" range="-140 60" stiffness="300" damping="30" armature=".02"/> | ||
| <joint name="left_hip_z" axis="0 0 1" range="-35 60" stiffness="300" damping="30" armature=".02"/> | ||
| <geom name="left_thigh" fromto="0 0 -0.06 0 0 -0.36" size=".055" density="1269"/> | ||
| <site name="left_thigh" class="touch" pos="0 0 -0.21" size="0.056 0.301" zaxis="0 0 -1"/> | ||
|
|
||
| <body name="left_shin" pos="0 0 -0.421546"> | ||
| <site name="left_knee" class="force-torque" pos="0 0 .02"/> | ||
| <joint name="left_knee" pos="0 0 0" axis="0 1 0" range="0 160" stiffness="300" damping="30" armature=".02"/> | ||
| <geom name="left_shin" fromto="0 0 -0.045 0 0 -0.355" size=".05" density="1014"/> | ||
| <site name="left_shin" class="touch" pos="0 0 -0.2" size="0.051 0.156" zaxis="0 0 -1"/> | ||
|
|
||
| <body name="left_foot" pos="0 0 -0.409870"> | ||
| <site name="left_ankle" class="force-torque"/> | ||
| <joint name="left_ankle_x" pos="0 0 0" axis="1 0 0" range="-30 30" stiffness="200" damping="20" armature=".01"/> | ||
| <joint name="left_ankle_y" pos="0 0 0" axis="0 1 0" range="-55 55" stiffness="200" damping="20" armature=".01"/> | ||
| <joint name="left_ankle_z" pos="0 0 0" axis="0 0 1" range="-40 40" stiffness="200" damping="20" armature=".01"/> | ||
| <geom name="left_foot" type="box" pos="0.045 0 -0.0225" size="0.0885 0.045 0.0275" density="1141"/> | ||
| <site name="left_foot" class="touch" type="box" pos="0.045 0 -0.0225" size="0.0895 0.055 0.0285"/> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </body> | ||
| </worldbody> | ||
|
|
||
| <actuator> | ||
| <motor name='abdomen_x' gear='125' joint='abdomen_x'/> | ||
| <motor name='abdomen_y' gear='125' joint='abdomen_y'/> | ||
| <motor name='abdomen_z' gear='125' joint='abdomen_z'/> | ||
| <motor name='neck_x' gear='20' joint='neck_x'/> | ||
| <motor name='neck_y' gear='20' joint='neck_y'/> | ||
| <motor name='neck_z' gear='20' joint='neck_z'/> | ||
| <motor name='right_shoulder_x' gear='70' joint='right_shoulder_x'/> | ||
| <motor name='right_shoulder_y' gear='70' joint='right_shoulder_y'/> | ||
| <motor name='right_shoulder_z' gear='70' joint='right_shoulder_z'/> | ||
| <motor name='right_elbow' gear='60' joint='right_elbow'/> | ||
| <motor name='left_shoulder_x' gear='70' joint='left_shoulder_x'/> | ||
| <motor name='left_shoulder_y' gear='70' joint='left_shoulder_y'/> | ||
| <motor name='left_shoulder_z' gear='70' joint='left_shoulder_z'/> | ||
| <motor name='left_elbow' gear='60' joint='left_elbow'/> | ||
| <motor name='right_hip_x' gear='125' joint='right_hip_x'/> | ||
| <motor name='right_hip_z' gear='125' joint='right_hip_z'/> | ||
| <motor name='right_hip_y' gear='125' joint='right_hip_y'/> | ||
| <motor name='right_knee' gear='100' joint='right_knee'/> | ||
| <motor name='right_ankle_x' gear='50' joint='right_ankle_x'/> | ||
| <motor name='right_ankle_y' gear='50' joint='right_ankle_y'/> | ||
| <motor name='right_ankle_z' gear='50' joint='right_ankle_z'/> | ||
| <motor name='left_hip_x' gear='125' joint='left_hip_x'/> | ||
| <motor name='left_hip_z' gear='125' joint='left_hip_z'/> | ||
| <motor name='left_hip_y' gear='125' joint='left_hip_y'/> | ||
| <motor name='left_knee' gear='100' joint='left_knee'/> | ||
| <motor name='left_ankle_x' gear='50' joint='left_ankle_x'/> | ||
| <motor name='left_ankle_y' gear='50' joint='left_ankle_y'/> | ||
| <motor name='left_ankle_z' gear='50' joint='left_ankle_z'/> | ||
| </actuator> | ||
|
|
||
| <sensor> | ||
| <subtreelinvel name="pelvis_subtreelinvel" body="pelvis"/> | ||
| <accelerometer name="root_accel" site="root"/> | ||
| <velocimeter name="root_vel" site="root"/> | ||
| <gyro name="root_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="pelvis_touch" site="pelvis"/> | ||
| <touch name="upper_waist_touch" site="upper_waist"/> | ||
| <touch name="torso_touch" site="torso"/> | ||
| <touch name="head_touch" site="head"/> | ||
| <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"/> | ||
| <touch name="right_thigh_touch" site="right_thigh"/> | ||
| <touch name="right_shin_touch" site="right_shin"/> | ||
| <touch name="right_foot_touch" site="right_foot"/> | ||
| <touch name="left_thigh_touch" site="left_thigh"/> | ||
| <touch name="left_shin_touch" site="left_shin"/> | ||
| <touch name="left_foot_touch" site="left_foot"/> | ||
| </sensor> | ||
|
|
||
| </mujoco> |
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