203 lines
11 KiB
XML
203 lines
11 KiB
XML
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<mujoco model="humanoid">
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<include file="./common/skybox.xml"/>
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<include file="./common/visual.xml"/>
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<include file="./common/materials.xml"/>
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<statistic extent="2" center="0 0 1"/>
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<option timestep=".005"/>
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<default>
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<motor ctrlrange="-1 1" ctrllimited="true"/>
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<default class="body">
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<geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="self"/>
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<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
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<default class="big_joint">
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<joint damping="5" stiffness="10"/>
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<default class="big_stiff_joint">
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<joint stiffness="20"/>
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</default>
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</default>
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<site size=".04" group="3"/>
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<default class="force-torque">
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<site type="box" size=".01 .01 .02" rgba="1 0 0 1" />
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</default>
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<default class="touch">
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<site type="capsule" rgba="0 0 1 .3"/>
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</default>
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</default>
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</default>
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<worldbody>
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<geom name="floor" type="plane" conaffinity="1" size="100 100 .2" material="grid"/>
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<body name="torso" pos="0 0 1.5" childclass="body">
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<light name="top" pos="0 0 2" mode="trackcom"/>
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<camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
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<camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
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<freejoint name="root"/>
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<site name="root" class="force-torque"/>
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<geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
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<geom name="upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
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<site name="torso" class="touch" type="box" pos="0 0 -.05" size=".075 .14 .13"/>
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<body name="head" pos="0 0 .19">
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<geom name="head" type="sphere" size=".09"/>
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<site name="head" class="touch" type="sphere" size=".091"/>
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<camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
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</body>
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<body name="lower_waist" pos="-.01 0 -.260" quat="1.000 0 -.002 0">
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<geom name="lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
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<site name="lower_waist" class="touch" size=".061 .06" zaxis="0 1 0"/>
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<joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
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<joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
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<body name="pelvis" pos="0 0 -.165" quat="1.000 0 -.002 0">
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<joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
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<geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
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<site name="butt" class="touch" size=".091 .07" pos="-.02 0 0" zaxis="0 1 0"/>
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<body name="right_thigh" pos="0 -.1 -.04">
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<site name="right_hip" class="force-torque"/>
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<joint name="right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
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<joint name="right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
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<joint name="right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
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<geom name="right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
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<site name="right_thigh" class="touch" pos="0 .005 -.17" size=".061 .17" zaxis="0 -1 34"/>
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<body name="right_shin" pos="0 .01 -.403">
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<site name="right_knee" class="force-torque" pos="0 0 .02"/>
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<joint name="right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
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<geom name="right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
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<site name="right_shin" class="touch" pos="0 0 -.15" size=".05 .15"/>
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<body name="right_foot" pos="0 0 -.39">
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<site name="right_ankle" class="force-torque"/>
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<joint name="right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
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<joint name="right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
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<geom name="right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
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<geom name="left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
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<site name="right_right_foot" class="touch" pos=".035 -.03 0" size=".03 .11" zaxis="21 -2 0"/>
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<site name="left_right_foot" class="touch" pos=".035 .01 0" size=".03 .11" zaxis="21 2 0"/>
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</body>
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</body>
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</body>
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<body name="left_thigh" pos="0 .1 -.04">
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<site name="left_hip" class="force-torque"/>
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<joint name="left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
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<joint name="left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
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<joint name="left_hip_y" axis="0 1 0" range="-120 20" class="big_stiff_joint"/>
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<geom name="left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
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<site name="left_thigh" class="touch" pos="0 -.005 -.17" size=".061 .17" zaxis="0 1 34"/>
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<body name="left_shin" pos="0 -.01 -.403">
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<site name="left_knee" class="force-torque" pos="0 0 .02"/>
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<joint name="left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
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<geom name="left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
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<site name="left_shin" class="touch" pos="0 0 -.15" size=".05 .15"/>
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<body name="left_foot" pos="0 0 -.39">
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<site name="left_ankle" class="force-torque"/>
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<joint name="left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
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<joint name="left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
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<geom name="left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
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<geom name="right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
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<site name="right_left_foot" class="touch" pos=".035 -.01 0" size=".03 .11" zaxis="21 -2 0"/>
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<site name="left_left_foot" class="touch" pos=".035 .03 0" size=".03 .11" zaxis="21 2 0"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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<body name="right_upper_arm" pos="0 -.17 .06">
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<joint name="right_shoulder1" axis="2 1 1" range="-85 60"/>
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<joint name="right_shoulder2" axis="0 -1 1" range="-85 60"/>
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<geom name="right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
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<site name="right_upper_arm" class="touch" pos=".08 -.08 -.08" size=".041 .14" zaxis="1 -1 -1"/>
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<body name="right_lower_arm" pos=".18 -.18 -.18">
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<joint name="right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
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<geom name="right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
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<site name="right_lower_arm" class="touch" pos=".09 .09 .09" size=".032 .14" zaxis="1 1 1"/>
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<body name="right_hand" pos=".18 .18 .18">
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<geom name="right_hand" type="sphere" size=".04"/>
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<site name="right_hand" class="touch" type="sphere" size=".041"/>
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</body>
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</body>
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</body>
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<body name="left_upper_arm" pos="0 .17 .06">
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<joint name="left_shoulder1" axis="2 -1 1" range="-60 85"/>
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<joint name="left_shoulder2" axis="0 1 1" range="-60 85"/>
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<geom name="left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
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<site name="left_upper_arm" class="touch" pos=".08 .08 -.08" size=".041 .14" zaxis="1 1 -1"/>
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<body name="left_lower_arm" pos=".18 .18 -.18">
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<joint name="left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
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<geom name="left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
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<site name="left_lower_arm" class="touch" pos=".09 -.09 .09" size=".032 .14" zaxis="1 -1 1"/>
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<body name="left_hand" pos=".18 -.18 .18">
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<geom name="left_hand" type="sphere" size=".04"/>
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<site name="left_hand" class="touch" type="sphere" size=".041"/>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<actuator>
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<motor name="abdomen_y" gear="40" joint="abdomen_y"/>
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<motor name="abdomen_z" gear="40" joint="abdomen_z"/>
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<motor name="abdomen_x" gear="40" joint="abdomen_x"/>
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<motor name="right_hip_x" gear="40" joint="right_hip_x"/>
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<motor name="right_hip_z" gear="40" joint="right_hip_z"/>
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<motor name="right_hip_y" gear="120" joint="right_hip_y"/>
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<motor name="right_knee" gear="80" joint="right_knee"/>
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<motor name="right_ankle_x" gear="20" joint="right_ankle_x"/>
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<motor name="right_ankle_y" gear="20" joint="right_ankle_y"/>
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<motor name="left_hip_x" gear="40" joint="left_hip_x"/>
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<motor name="left_hip_z" gear="40" joint="left_hip_z"/>
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<motor name="left_hip_y" gear="120" joint="left_hip_y"/>
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<motor name="left_knee" gear="80" joint="left_knee"/>
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<motor name="left_ankle_x" gear="20" joint="left_ankle_x"/>
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<motor name="left_ankle_y" gear="20" joint="left_ankle_y"/>
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<motor name="right_shoulder1" gear="20" joint="right_shoulder1"/>
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<motor name="right_shoulder2" gear="20" joint="right_shoulder2"/>
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<motor name="right_elbow" gear="40" joint="right_elbow"/>
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<motor name="left_shoulder1" gear="20" joint="left_shoulder1"/>
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<motor name="left_shoulder2" gear="20" joint="left_shoulder2"/>
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<motor name="left_elbow" gear="40" joint="left_elbow"/>
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</actuator>
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<sensor>
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<subtreelinvel name="torso_subtreelinvel" body="torso"/>
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<accelerometer name="torso_accel" site="root"/>
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<velocimeter name="torso_vel" site="root"/>
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<gyro name="torso_gyro" site="root"/>
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<force name="left_ankle_force" site="left_ankle"/>
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<force name="right_ankle_force" site="right_ankle"/>
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<force name="left_knee_force" site="left_knee"/>
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<force name="right_knee_force" site="right_knee"/>
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<force name="left_hip_force" site="left_hip"/>
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<force name="right_hip_force" site="right_hip"/>
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<torque name="left_ankle_torque" site="left_ankle"/>
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<torque name="right_ankle_torque" site="right_ankle"/>
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<torque name="left_knee_torque" site="left_knee"/>
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<torque name="right_knee_torque" site="right_knee"/>
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<torque name="left_hip_torque" site="left_hip"/>
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<torque name="right_hip_torque" site="right_hip"/>
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<touch name="torso_touch" site="torso"/>
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<touch name="head_touch" site="head"/>
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<touch name="lower_waist_touch" site="lower_waist"/>
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<touch name="butt_touch" site="butt"/>
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<touch name="right_thigh_touch" site="right_thigh"/>
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<touch name="right_shin_touch" site="right_shin"/>
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<touch name="right_right_foot_touch" site="right_right_foot"/>
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<touch name="left_right_foot_touch" site="left_right_foot"/>
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<touch name="left_thigh_touch" site="left_thigh"/>
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<touch name="left_shin_touch" site="left_shin"/>
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<touch name="right_left_foot_touch" site="right_left_foot"/>
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<touch name="left_left_foot_touch" site="left_left_foot"/>
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<touch name="right_upper_arm_touch" site="right_upper_arm"/>
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<touch name="right_lower_arm_touch" site="right_lower_arm"/>
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<touch name="right_hand_touch" site="right_hand"/>
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<touch name="left_upper_arm_touch" site="left_upper_arm"/>
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<touch name="left_lower_arm_touch" site="left_lower_arm"/>
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<touch name="left_hand_touch" site="left_hand"/>
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</sensor>
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</mujoco>
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