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Version 2.1: documentation, public API headers, and sample programs.

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PiperOrigin-RevId: 403900419
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Saran Tunyasuvunakool
2021-10-18 12:23:02 +01:00
commit 1f7eaae62e
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model/arm26.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="2-link 6-muscle arm">
<option timestep="0.005" iterations="50" solver="Newton" tolerance="1e-10"/>
<size njmax="50" nconmax="10" nstack="200"/>
<visual>
<rgba haze=".3 .3 .3 1"/>
</visual>
<default>
<joint type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="0 120" damping="0.1"/>
<muscle ctrllimited="true" ctrlrange="0 1"/>
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.6 0.6 0.6" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".25 .25 .25" rgb2=".3 .3 .3" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<geom name="floor" pos="0 0 -0.5" size="0 0 1" type="plane" material="matplane"/>
<light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1"/>
<site name="s0" pos="-0.15 0 0" size="0.02"/>
<site name="x0" pos="0 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
<body pos="0 0 0">
<geom name="upper arm" type="capsule" size="0.045" fromto="0 0 0 0.5 0 0" rgba=".5 .1 .1 1"/>
<joint name="shoulder"/>
<geom name="shoulder" type="cylinder" pos="0 0 0" size=".1 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
<site name="s1" pos="0.15 0.06 0" size="0.02"/>
<site name="s2" pos="0.15 -0.06 0" size="0.02"/>
<site name="s3" pos="0.4 0.06 0" size="0.02"/>
<site name="s4" pos="0.4 -0.06 0" size="0.02"/>
<site name="s5" pos="0.25 0.1 0" size="0.02"/>
<site name="s6" pos="0.25 -0.1 0" size="0.02"/>
<site name="x1" pos="0.5 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
<body pos="0.5 0 0">
<geom name="forearm" type="capsule" size="0.035" fromto="0 0 0 0.5 0 0" rgba=".5 .1 .1 1"/>
<joint name="elbow"/>
<geom name="elbow" type="cylinder" pos="0 0 0" size=".08 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
<site name="s7" pos="0.11 0.05 0" size="0.02"/>
<site name="s8" pos="0.11 -0.05 0" size="0.02"/>
</body>
</body>
</worldbody>
<tendon>
<spatial name="SF" width="0.01">
<site site="s0"/>
<geom geom="shoulder"/>
<site site="s1"/>
</spatial>
<spatial name="SE" width="0.01">
<site site="s0"/>
<geom geom="shoulder" sidesite="x0"/>
<site site="s2"/>
</spatial>
<spatial name="EF" width="0.01">
<site site="s3"/>
<geom geom="elbow"/>
<site site="s7"/>
</spatial>
<spatial name="EE" width="0.01">
<site site="s4"/>
<geom geom="elbow" sidesite="x1"/>
<site site="s8"/>
</spatial>
<spatial name="BF" width="0.009" rgba=".4 .6 .4 1">
<site site="s0"/>
<geom geom="shoulder"/>
<site site="s5"/>
<geom geom="elbow"/>
<site site="s7"/>
</spatial>
<spatial name="BE" width="0.009" rgba=".4 .6 .4 1">
<site site="s0"/>
<geom geom="shoulder" sidesite="x0"/>
<site site="s6"/>
<geom geom="elbow" sidesite="x1"/>
<site site="s8"/>
</spatial>
</tendon>
<actuator>
<muscle name="SF" tendon="SF"/>
<muscle name="SE" tendon="SE"/>
<muscle name="EF" tendon="EF"/>
<muscle name="EE" tendon="EE"/>
<muscle name="BF" tendon="BF"/>
<muscle name="BE" tendon="BE"/>
</actuator>
</mujoco>
model/carpet.png
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model/cloth.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Cloth">
<include file="scene.xml"/>
<option timestep="0.002" solver="CG" tolerance="1e-6"/>
<size nconmax="300" njmax="1000" nstack="1000000"/>
<worldbody>
<body name="B3_5" pos="0 0 1">
<freejoint/>
<composite type="cloth" count="9 9 1" spacing="0.05" flatinertia="0.01">
<joint kind="main" damping="0.001"/>
<skin material="matcarpet" texcoord="true" inflate="0.005" subgrid="2"/>
<geom type="capsule" size="0.015 0.01" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
model/grid1.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="1D grid">
<include file="scene.xml"/>
<size nconmax="50" njmax="300" nstack="50000"/>
<worldbody>
<composite type="grid" count="20 1 1" spacing="0.045" offset="0 0 1">
<joint kind="main" damping="0.001"/>
<tendon kind="main" width="0.01"/>
<geom size=".02" rgba=".8 .2 .1 1"/>
</composite>
</worldbody>
</mujoco>
model/grid1pin.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="1D grid with pins">
<include file="scene.xml"/>
<size nconmax="50" njmax="300" nstack="50000"/>
<worldbody>
<composite type="grid" count="20 1 1" spacing="0.045" offset="0 0 1">
<joint kind="main" damping="0.001"/>
<tendon kind="main" width="0.01"/>
<pin coord="1"/>
<pin coord="13"/>
<geom size=".02" rgba=".8 .2 .1 1"/>
</composite>
</worldbody>
</mujoco>
model/grid2.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="2D grid">
<include file="scene.xml"/>
<size nconmax="300" njmax="1000" nstack="1000000"/>
<worldbody>
<composite type="grid" count="9 9 1" spacing="0.05" offset="0 0 1">
<skin material="matcarpet" inflate="0.001" subgrid="3" texcoord="true"/>
<geom size=".02"/>
</composite>
</worldbody>
</mujoco>
model/grid2pin.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="2D grid with pins">
<include file="scene.xml"/>
<size nconmax="200" njmax="1000" nstack="1000000"/>
<worldbody>
<composite type="grid" count="9 9 1" spacing="0.05" offset="0 0 1">
<skin rgba=".6 .1 .6 1" inflate="0.001" subgrid="3"/>
<pin coord="0 0"/>
<pin coord="8 0"/>
<geom size=".02"/>
</composite>
</worldbody>
</mujoco>
model/hammock.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Hammock">
<compiler inertiafromgeom="true" angle="degree"/>
<default>
<default class="humanoid">
<joint limited="true" damping="1" armature="0"/>
<geom condim="1" material="matgeom"/>
</default>
<motor ctrlrange="-.4 .4" ctrllimited="true"/>
</default>
<option timestep="0.005" solver="CG" iterations="30" tolerance="1e-6" jacobian="sparse" cone="pyramidal"/>
<size njmax="1000" nconmax="100" nstack="1000000"/>
<visual>
<map force="0.1" zfar="30"/>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="2048"/>
<global offwidth="800" offheight="800"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<texture name="texhammock" type="2d" builtin="checker" rgb1=".1 .5 .1" rgb2=".5 .1 .1" width="512" height="512" mark="edge" markrgb=".8 .8 .8"/>
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
<material name="mathammock" texture="texhammock"/>
<material name="matgeom" texture="texgeom" texuniform="true" rgba="0.8 0.6 .4 1"/>
</asset>
<worldbody>
<geom name="floor" pos="0 0 -1" size="0 0 .25" type="plane" material="matplane" condim="3"/>
<light directional="true" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
<light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4.0" dir="0 0 -1"/>
<composite type="grid" count="11 9 1" spacing="0.2" offset="0. 0. 0">
<skin texcoord="true" material="mathammock" inflate="0.01" subgrid="3"/>
<pin coord="0 0"/>
<pin coord="10 0"/>
<pin coord="0 8"/>
<pin coord="10 8"/>
<geom size=".095"/>
<joint kind="main" damping="10"/>
</composite>
<body name="torso" childclass="humanoid" pos="0 0 1.4">
<freejoint name="root"/>
<geom name="torso1" type="capsule" fromto="0 -.07 0 0 .07 0" size="0.07"/>
<geom name="head" type="sphere" pos="0 0 .19" size=".09"/>
<geom name="uwaist" type="capsule" fromto="-.01 -.06 -.12 -.01 .06 -.12" size="0.06"/>
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0" >
<geom name="lwaist" type="capsule" fromto="0 -.06 0 0 .06 0" size="0.06" />
<joint name="abdomen_z" type="hinge" pos="0 0 0.065" axis="0 0 1" range="-45 45" damping="5" stiffness="20" armature="0.02" />
<joint name="abdomen_y" type="hinge" pos="0 0 0.065" axis="0 1 0" range="-75 30" damping="5" stiffness="10" armature="0.02" />
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0" >
<joint name="abdomen_x" type="hinge" pos="0 0 0.1" axis="1 0 0" range="-35 35" damping="5" stiffness="10" armature="0.02" />
<geom name="butt" type="capsule" fromto="-.02 -.07 0 -.02 .07 0" size="0.09" />
<body name="right_thigh" pos="0 -0.1 -0.04" >
<joint name="right_hip_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-25 5" damping="5" stiffness="10" armature="0.01" />
<joint name="right_hip_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-60 35" damping="5" stiffness="10" armature="0.01" />
<joint name="right_hip_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-120 20" damping="5" stiffness="20" armature="0.01" />
<geom name="right_thigh1" type="capsule" fromto="0 0 0 0 0.01 -.34" size="0.06" />
<body name="right_shin" pos="0 0.01 -0.403" >
<joint name="right_knee" type="hinge" pos="0 0 .02" axis="0 -1 0" range="-160 -2" stiffness="1" armature="0.0060" />
<geom name="right_shin1" type="capsule" fromto="0 0 0 0 0 -.3" size="0.049" />
<body name="right_foot" pos="0 0 -.39" >
<joint name="right_ankle_y" type="hinge" pos="0 0 0.08" axis="0 1 0" range="-50 50" stiffness="4" armature="0.0008" />
<joint name="right_ankle_x" type="hinge" pos="0 0 0.04" axis="1 0 0.5" range="-50 50" stiffness="1" armature="0.0006" />
<geom name="right_foot_cap1" type="capsule" fromto="-.07 -0.02 0 0.14 -0.04 0" size="0.027" />
<geom name="right_foot_cap2" type="capsule" fromto="-.07 0 0 0.14 0.02 0" size="0.027" />
</body>
</body>
</body>
<body name="left_thigh" pos="0 0.1 -0.04" >
<joint name="left_hip_x" type="hinge" pos="0 0 0" axis="-1 0 0" range="-25 5" damping="5" stiffness="10" armature="0.01" />
<joint name="left_hip_z" type="hinge" pos="0 0 0" axis="0 0 -1" range="-60 35" damping="5" stiffness="10" armature="0.01" />
<joint name="left_hip_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-120 20" damping="5" stiffness="20" armature="0.01" />
<geom name="left_thigh1" type="capsule" fromto="0 0 0 0 -0.01 -.34" size="0.06" />
<body name="left_shin" pos="0 -0.01 -0.403" >
<joint name="left_knee" type="hinge" pos="0 0 .02" axis="0 -1 0" range="-160 -2" stiffness="1" armature="0.0060" />
<geom name="left_shin1" type="capsule" fromto="0 0 0 0 0 -.3" size="0.049" />
<body name="left_foot" pos="0 0 -.39" >
<joint name="left_ankle_y" type="hinge" pos="0 0 0.08" axis="0 1 0" range="-50 50" stiffness="4" armature="0.0008" />
<joint name="left_ankle_x" type="hinge" pos="0 0 0.04" axis="1 0 0.5" range="-50 50" stiffness="1" armature="0.0006" />
<geom name="left_foot_cap1" type="capsule" fromto="-.07 0.02 0 0.14 0.04 0" size="0.027" />
<geom name="left_foot_cap2" type="capsule" fromto="-.07 0 0 0.14 -0.02 0" size="0.027" />
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm" pos="0 -0.17 0.06" >
<joint name="right_shoulder1" type="hinge" pos="0 0 0" axis="2 1 1" range="-85 60" stiffness="1" armature="0.0068" />
<joint name="right_shoulder2" type="hinge" pos="0 0 0" axis="0 -1 1" range="-85 60" stiffness="1" armature="0.0051" />
<geom name="right_uarm1" type="capsule" fromto="0 0 0 .16 -.16 -.16" size="0.04 0.16" />
<body name="right_lower_arm" pos=".18 -.18 -.18" >
<joint name="right_elbow" type="hinge" pos="0 0 0" axis="0 -1 1" range="-90 50" stiffness="0" armature="0.0028" />
<geom name="right_larm" type="capsule" fromto="0.01 0.01 0.01 .17 .17 .17" size="0.031" />
<geom name="right_hand" type="sphere" pos=".18 .18 .18" size="0.04"/>
</body>
</body>
<body name="left_upper_arm" pos="0 0.17 0.06" >
<joint name="left_shoulder1" type="hinge" pos="0 0 0" axis="2 -1 1" range="-60 85" stiffness="1" armature="0.0068" />
<joint name="left_shoulder2" type="hinge" pos="0 0 0" axis="0 1 1" range="-60 85" stiffness="1" armature="0.0051" />
<geom name="left_uarm1" type="capsule" fromto="0 0 0 .16 .16 -.16" size="0.04 0.16" />
<body name="left_lower_arm" pos=".18 .18 -.18" >
<joint name="left_elbow" type="hinge" pos="0 0 0" axis="0 -1 -1" range="-90 50" stiffness="0" armature="0.0028" />
<geom name="left_larm" type="capsule" fromto="0.01 -0.01 0.01 .17 -.17 .17" size="0.031" />
<geom name="left_hand" type="sphere" pos=".18 -.18 .18" size="0.04"/>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="abdomen_y" gear="200" joint="abdomen_y" />
<motor name="abdomen_z" gear="200" joint="abdomen_z" />
<motor name="abdomen_x" gear="200" joint="abdomen_x" />
<motor name="right_hip_x" gear="200" joint="right_hip_x" />
<motor name="right_hip_z" gear="200" joint="right_hip_z" />
<motor name="right_hip_y" gear="600" joint="right_hip_y" />
<motor name="right_knee" gear="400" joint="right_knee" />
<motor name="right_ankle_x" gear="100" joint="right_ankle_x" />
<motor name="right_ankle_y" gear="100" joint="right_ankle_y" />
<motor name="left_hip_x" gear="200" joint="left_hip_x" />
<motor name="left_hip_z" gear="200" joint="left_hip_z" />
<motor name="left_hip_y" gear="600" joint="left_hip_y" />
<motor name="left_knee" gear="400" joint="left_knee" />
<motor name="left_ankle_x" gear="100" joint="left_ankle_x" />
<motor name="left_ankle_y" gear="100" joint="left_ankle_y" />
<motor name="right_shoulder1" gear="100" joint="right_shoulder1" />
<motor name="right_shoulder2" gear="100" joint="right_shoulder2" />
<motor name="right_elbow" gear="200" joint="right_elbow" />
<motor name="left_shoulder1" gear="100" joint="left_shoulder1" />
<motor name="left_shoulder2" gear="100" joint="left_shoulder2" />
<motor name="left_elbow" gear="200" joint="left_elbow" />
</actuator>
</mujoco>
model/humanoid.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Humanoid">
<compiler inertiafromgeom="true" angle="degree"/>
<default>
<joint limited="true" damping="1" armature="0"/>
<geom condim="1" material="matgeom"/>
<motor ctrlrange="-.4 .4" ctrllimited="true"/>
</default>
<option timestep="0.005" iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="pyramidal"/>
<size nconmax="50" njmax="200" nstack="10000"/>
<visual>
<map force="0.1" zfar="30"/>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="2048"/>
<global offwidth="800" offheight="800"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
<material name="matgeom" texture="texgeom" texuniform="true" rgba="0.8 0.6 .4 1"/>
</asset>
<worldbody>
<geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="matplane" condim="3"/>
<light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
<light mode="targetbodycom" target="torso" directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4.0" dir="0 0 -1"/>
<body name="torso" pos="0 0 1.4">
<freejoint name="root"/>
<geom name="torso1" type="capsule" fromto="0 -.07 0 0 .07 0" size="0.07"/>
<geom name="head" type="sphere" pos="0 0 .19" size=".09"/>
<geom name="uwaist" type="capsule" fromto="-.01 -.06 -.12 -.01 .06 -.12" size="0.06"/>
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0" >
<geom name="lwaist" type="capsule" fromto="0 -.06 0 0 .06 0" size="0.06" />
<joint name="abdomen_z" type="hinge" pos="0 0 0.065" axis="0 0 1" range="-45 45" damping="5" stiffness="20" armature="0.02" />
<joint name="abdomen_y" type="hinge" pos="0 0 0.065" axis="0 1 0" range="-75 30" damping="5" stiffness="10" armature="0.02" />
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0" >
<joint name="abdomen_x" type="hinge" pos="0 0 0.1" axis="1 0 0" range="-35 35" damping="5" stiffness="10" armature="0.02" />
<geom name="butt" type="capsule" fromto="-.02 -.07 0 -.02 .07 0" size="0.09" />
<body name="right_thigh" pos="0 -0.1 -0.04" >
<joint name="right_hip_x" type="hinge" pos="0 0 0" axis="1 0 0" range="-25 5" damping="5" stiffness="10" armature="0.01" />
<joint name="right_hip_z" type="hinge" pos="0 0 0" axis="0 0 1" range="-60 35" damping="5" stiffness="10" armature="0.01" />
<joint name="right_hip_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-120 20" damping="5" stiffness="20" armature="0.01" />
<geom name="right_thigh1" type="capsule" fromto="0 0 0 0 0.01 -.34" size="0.06" />
<body name="right_shin" pos="0 0.01 -0.403" >
<joint name="right_knee" type="hinge" pos="0 0 .02" axis="0 -1 0" range="-160 -2" stiffness="1" armature="0.0060" />
<geom name="right_shin1" type="capsule" fromto="0 0 0 0 0 -.3" size="0.049" />
<body name="right_foot" pos="0 0 -.39" >
<joint name="right_ankle_y" type="hinge" pos="0 0 0.08" axis="0 1 0" range="-50 50" stiffness="4" armature="0.0008" />
<joint name="right_ankle_x" type="hinge" pos="0 0 0.04" axis="1 0 0.5" range="-50 50" stiffness="1" armature="0.0006" />
<geom name="right_foot_cap1" type="capsule" fromto="-.07 -0.02 0 0.14 -0.04 0" size="0.027" />
<geom name="right_foot_cap2" type="capsule" fromto="-.07 0 0 0.14 0.02 0" size="0.027" />
</body>
</body>
</body>
<body name="left_thigh" pos="0 0.1 -0.04" >
<joint name="left_hip_x" type="hinge" pos="0 0 0" axis="-1 0 0" range="-25 5" damping="5" stiffness="10" armature="0.01" />
<joint name="left_hip_z" type="hinge" pos="0 0 0" axis="0 0 -1" range="-60 35" damping="5" stiffness="10" armature="0.01" />
<joint name="left_hip_y" type="hinge" pos="0 0 0" axis="0 1 0" range="-120 20" damping="5" stiffness="20" armature="0.01" />
<geom name="left_thigh1" type="capsule" fromto="0 0 0 0 -0.01 -.34" size="0.06" />
<body name="left_shin" pos="0 -0.01 -0.403" >
<joint name="left_knee" type="hinge" pos="0 0 .02" axis="0 -1 0" range="-160 -2" stiffness="1" armature="0.0060" />
<geom name="left_shin1" type="capsule" fromto="0 0 0 0 0 -.3" size="0.049" />
<body name="left_foot" pos="0 0 -.39" >
<joint name="left_ankle_y" type="hinge" pos="0 0 0.08" axis="0 1 0" range="-50 50" stiffness="4" armature="0.0008" />
<joint name="left_ankle_x" type="hinge" pos="0 0 0.04" axis="1 0 0.5" range="-50 50" stiffness="1" armature="0.0006" />
<geom name="left_foot_cap1" type="capsule" fromto="-.07 0.02 0 0.14 0.04 0" size="0.027" />
<geom name="left_foot_cap2" type="capsule" fromto="-.07 0 0 0.14 -0.02 0" size="0.027" />
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm" pos="0 -0.17 0.06" >
<joint name="right_shoulder1" type="hinge" pos="0 0 0" axis="2 1 1" range="-85 60" stiffness="1" armature="0.0068" />
<joint name="right_shoulder2" type="hinge" pos="0 0 0" axis="0 -1 1" range="-85 60" stiffness="1" armature="0.0051" />
<geom name="right_uarm1" type="capsule" fromto="0 0 0 .16 -.16 -.16" size="0.04 0.16" />
<body name="right_lower_arm" pos=".18 -.18 -.18" >
<joint name="right_elbow" type="hinge" pos="0 0 0" axis="0 -1 1" range="-90 50" stiffness="0" armature="0.0028" />
<geom name="right_larm" type="capsule" fromto="0.01 0.01 0.01 .17 .17 .17" size="0.031" />
<geom name="right_hand" type="sphere" pos=".18 .18 .18" size="0.04"/>
</body>
</body>
<body name="left_upper_arm" pos="0 0.17 0.06" >
<joint name="left_shoulder1" type="hinge" pos="0 0 0" axis="2 -1 1" range="-60 85" stiffness="1" armature="0.0068" />
<joint name="left_shoulder2" type="hinge" pos="0 0 0" axis="0 1 1" range="-60 85" stiffness="1" armature="0.0051" />
<geom name="left_uarm1" type="capsule" fromto="0 0 0 .16 .16 -.16" size="0.04 0.16" />
<body name="left_lower_arm" pos=".18 .18 -.18" >
<joint name="left_elbow" type="hinge" pos="0 0 0" axis="0 -1 -1" range="-90 50" stiffness="0" armature="0.0028" />
<geom name="left_larm" type="capsule" fromto="0.01 -0.01 0.01 .17 -.17 .17" size="0.031" />
<geom name="left_hand" type="sphere" pos=".18 -.18 .18" size="0.04"/>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="abdomen_y" gear="200" joint="abdomen_y" />
<motor name="abdomen_z" gear="200" joint="abdomen_z" />
<motor name="abdomen_x" gear="200" joint="abdomen_x" />
<motor name="right_hip_x" gear="200" joint="right_hip_x" />
<motor name="right_hip_z" gear="200" joint="right_hip_z" />
<motor name="right_hip_y" gear="600" joint="right_hip_y" />
<motor name="right_knee" gear="400" joint="right_knee" />
<motor name="right_ankle_x" gear="100" joint="right_ankle_x" />
<motor name="right_ankle_y" gear="100" joint="right_ankle_y" />
<motor name="left_hip_x" gear="200" joint="left_hip_x" />
<motor name="left_hip_z" gear="200" joint="left_hip_z" />
<motor name="left_hip_y" gear="600" joint="left_hip_y" />
<motor name="left_knee" gear="400" joint="left_knee" />
<motor name="left_ankle_x" gear="100" joint="left_ankle_x" />
<motor name="left_ankle_y" gear="100" joint="left_ankle_y" />
<motor name="right_shoulder1" gear="100" joint="right_shoulder1" />
<motor name="right_shoulder2" gear="100" joint="right_shoulder2" />
<motor name="right_elbow" gear="200" joint="right_elbow" />
<motor name="left_shoulder1" gear="100" joint="left_shoulder1" />
<motor name="left_shoulder2" gear="100" joint="left_shoulder2" />
<motor name="left_elbow" gear="200" joint="left_elbow" />
</actuator>
</mujoco>
model/humanoid100.xml
Executable
+592
View File
@@ -0,0 +1,592 @@
<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Humanoid and 100 objects">
<compiler angle="degree"/>
<option timestep="0.005" iterations="50" solver="Newton" jacobian="sparse" cone="pyramidal" tolerance="1e-10"/>
<size njmax="1500" nconmax="500" nstack="5000000"/>
<default>
<geom solimp=".9 .9 .01"/>
<default class="humanoid">
<geom material="humanoid"/>
<joint damping="1" limited="true"/>
</default>
<default class="object1">
<geom type="capsule" material="object1" size="0.1 0.05"/>
</default>
<default class="object2">
<geom type="ellipsoid" material="object2" size="0.15 0.1 0.07"/>
</default>
<default class="object3">
<geom type="box" material="object3" size="0.15 0.1 0.05"/>
</default>
<default class="object4">
<geom type="cylinder" material="object4" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
</default>
<default class="object5">
<geom type="sphere" material="object5" size="0.1"/>
</default>
<default class="border">
<geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
</default>
<default class="borderpost">
<geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
</default>
</default>
<asset>
<texture type="skybox" builtin="gradient" width="128" height="128" rgb1=".4 .6 .8" rgb2="0 0 0"/>
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128"
rgb1="0.6 0.6 0.6" rgb2="0.6 0.6 0.6" markrgb="1 1 1"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".4 .4 .4" rgb2=".6 .6 .6"
width="512" height="512"/>
<material name='MatPlane' reflectance='0.3' texture="texplane" texrepeat="1 1" texuniform="true"/>
<material name='humanoid' texture="texgeom" texuniform="true" rgba="1.2 1.2 0.6 1"/>
<material name='object1' texture="texgeom" texuniform="true" rgba=".4 .9 .6 1" />
<material name='object2' texture="texgeom" texuniform="true" rgba=".4 .6 .9 1" />
<material name='object3' texture="texgeom" texuniform="true" rgba=".4 .9 .9 1" />
<material name='object4' texture="texgeom" texuniform="true" rgba=".8 .6 .8 1" />
<material name='object5' texture="texgeom" texuniform="true" rgba=".9 .1 .1 1" />
</asset>
<visual>
<quality shadowsize="4096" offsamples="8"/>
<map znear="0.1" force="0.05"/>
</visual>
<statistic extent="4"/>
<worldbody>
<light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
<geom pos="0 0 0" type="plane" size="3 3 .5" rgba=".7 .7 .7 1" material="MatPlane"/>
<geom class="border" fromto="-3 3 0 3 3 0" />
<geom class="border" fromto="-3 -3 0 3 -3 0" />
<geom class="border" fromto="3 3 0 3 -3 0" />
<geom class="border" fromto="-3 3 0 -3 -3 0" />
<geom class="borderpost" pos="3 3 0"/>
<geom class="borderpost" pos="-3 3 0"/>
<geom class="borderpost" pos="3 -3 0"/>
<geom class="borderpost" pos="-3 -3 0"/>
<body name='torso' pos='0 0 1.4' childclass="humanoid">
<freejoint name="root"/>
<geom name='torso1' type='capsule' fromto='0 -.07 0 0 .07 0' size='0.07'/>
<geom name='head' type='sphere' pos='0 0 .19' size='.09'/>
<geom name='uwaist' type='capsule' fromto='-.01 -.06 -.12 -.01 .06 -.12' size='0.06'/>
<body name='lwaist' pos='-.01 0 -0.260' quat='1.000 0 -0.002 0' >
<geom name='lwaist' type='capsule' fromto='0 -.06 0 0 .06 0' size='0.06' />
<joint name='abdomen_z' type='hinge' pos='0 0 0.065' axis='0 0 1' range='-45 45' damping='5' stiffness='20' armature='0.02' />
<joint name='abdomen_y' type='hinge' pos='0 0 0.065' axis='0 1 0' range='-75 30' damping='5' stiffness='10' armature='0.02' />
<body name='pelvis' pos='0 0 -0.165' quat='1.000 0 -0.002 0' >
<joint name='abdomen_x' type='hinge' pos='0 0 0.1' axis='1 0 0' range='-35 35' damping='5' stiffness='10' armature='0.02' />
<geom name='butt' type='capsule' fromto='-.02 -.07 0 -.02 .07 0' size='0.09' />
<body name='right_thigh' pos='0 -0.1 -0.04' >
<joint name='right_hip_x' type='hinge' pos='0 0 0' axis='1 0 0' range='-25 5' damping='5' stiffness='10' armature='0.01' />
<joint name='right_hip_z' type='hinge' pos='0 0 0' axis='0 0 1' range='-60 35' damping='5' stiffness='10' armature='0.01' />
<joint name='right_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-120 20' damping='5' stiffness='20' armature='0.01' />
<geom name='right_thigh1' type='capsule' fromto='0 0 0 0 0.01 -.34' size='0.06' />
<body name='right_shin' pos='0 0.01 -0.403' >
<joint name='right_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' stiffness='1' armature='0.0060' />
<geom name='right_shin1' type='capsule' fromto='0 0 0 0 0 -.3' size='0.049' />
<body name='right_foot' pos='0 0 -.39' >
<joint name='right_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0' range='-50 50' stiffness='4' armature='0.0008' />
<joint name='right_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50' stiffness='1' armature='0.0006' />
<geom name='right_foot_cap1' type='capsule' fromto='-.07 -0.02 0 0.14 -0.04 0' size='0.027' />
<geom name='right_foot_cap2' type='capsule' fromto='-.07 0 0 0.14 0.02 0' size='0.027' />
</body>
</body>
</body>
<body name='left_thigh' pos='0 0.1 -0.04' >
<joint name='left_hip_x' type='hinge' pos='0 0 0' axis='-1 0 0' range='-25 5' damping='5' stiffness='10' armature='0.01' />
<joint name='left_hip_z' type='hinge' pos='0 0 0' axis='0 0 -1' range='-60 35' damping='5' stiffness='10' armature='0.01' />
<joint name='left_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-120 20' damping='5' stiffness='20' armature='0.01' />
<geom name='left_thigh1' type='capsule' fromto='0 0 0 0 -0.01 -.34' size='0.06' />
<body name='left_shin' pos='0 -0.01 -0.403' >
<joint name='left_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' stiffness='1' armature='0.0060' />
<geom name='left_shin1' type='capsule' fromto='0 0 0 0 0 -.3' size='0.049' />
<body name='left_foot' pos='0 0 -.39' >
<joint name='left_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0' range='-50 50' stiffness='4' armature='0.0008' />
<joint name='left_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50' stiffness='1' armature='0.0006' />
<geom name='left_foot_cap1' type='capsule' fromto='-.07 0.02 0 0.14 0.04 0' size='0.027' />
<geom name='left_foot_cap2' type='capsule' fromto='-.07 0 0 0.14 -0.02 0' size='0.027' />
</body>
</body>
</body>
</body>
</body>
<body name='right_upper_arm' pos='0 -0.17 0.06' >
<joint name='right_shoulder1' type='hinge' pos='0 0 0' axis='2 1 1' range='-85 60' stiffness='1' armature='0.0068' />
<joint name='right_shoulder2' type='hinge' pos='0 0 0' axis='0 -1 1' range='-85 60' stiffness='1' armature='0.0051' />
<geom name='right_uarm1' type='capsule' fromto='0 0 0 .16 -.16 -.16' size='0.04 0.16' />
<body name='right_lower_arm' pos='.18 -.18 -.18' >
<joint name='right_elbow' type='hinge' pos='0 0 0' axis='0 -1 1' range='-90 50' stiffness='0' armature='0.0028' />
<geom name='right_larm' type='capsule' fromto='0.01 0.01 0.01 .17 .17 .17' size='0.031' />
<geom name='right_hand' type='sphere' pos='.18 .18 .18' size='0.04'/>
</body>
</body>
<body name='left_upper_arm' pos='0 0.17 0.06' >
<joint name='left_shoulder1' type='hinge' pos='0 0 0' axis='2 -1 1' range='-60 85' stiffness='1' armature='0.0068' />
<joint name='left_shoulder2' type='hinge' pos='0 0 0' axis='0 1 1' range='-60 85' stiffness='1' armature='0.0051' />
<geom name='left_uarm1' type='capsule' fromto='0 0 0 .16 .16 -.16' size='0.04 0.16' />
<body name='left_lower_arm' pos='.18 .18 -.18' >
<joint name='left_elbow' type='hinge' pos='0 0 0' axis='0 -1 -1' range='-90 50' stiffness='0' armature='0.0028' />
<geom name='left_larm' type='capsule' fromto='0.01 -0.01 0.01 .17 -.17 .17' size='0.031' />
<geom name='left_hand' type='sphere' pos='.18 -.18 .18' size='0.04'/>
</body>
</body>
</body>
<body pos="-2 -2 1" quat="-0.632456 -0.632456 0.316228 0.316228">
<freejoint/>
<geom class="object1"/>
</body>
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<freejoint/>
<geom class="object1"/>
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</worldbody>
</mujoco>
model/loop.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Loop">
<include file="scene.xml"/>
<option timestep="0.002" jacobian="dense"/>
<size nconmax="100" njmax="300" nstack="50000"/>
<worldbody>
<body name="B0" pos="0 0 1">
<freejoint/>
<composite type="loop" count="20 1 1" spacing="0.04" offset="0 0 2">
<joint kind="main" damping="0.005"/>
<geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
model/marble.png
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model/particle.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Particle">
<include file="scene.xml"/>
<option solver="CG" tolerance="1e-6"/>
<size nconmax="3000" njmax="3000" nstack="50000000"/>
<visual>
<map stiffness="100"/>
</visual>
<worldbody>
<composite type="particle" count="10 10 10" spacing="0.07" offset="0 0 1">
<geom size=".02" rgba=".8 .2 .1 1"/>
</composite>
</worldbody>
</mujoco>
model/rope.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Rope">
<include file="scene.xml"/>
<option timestep="0.002" jacobian="dense"/>
<size nconmax="100" njmax="300" nstack="50000"/>
<worldbody>
<body name="B10" pos="0 0 1">
<freejoint/>
<composite type="rope" count="21 1 1" spacing="0.04" offset="0 0 2">
<joint kind="main" damping="0.005"/>
<geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
model/scene.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco>
<statistic extent="2" meansize=".05"/>
<option timestep="0.005" solver="Newton" iterations="30" tolerance="1e-10" jacobian="sparse" cone="pyramidal"/>
<visual>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="2048"/>
<map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<texture name="texcarpet" type="2d" file="carpet.png"/>
<texture name="texsponge" type="2d" file="sponge.png"/>
<texture name="texmarble" type="cube" file="marble.png"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
<material name="matcarpet" texture="texcarpet"/>
<material name="matsponge" texture="texsponge" specular="0.3"/>
<material name="matmarble" texture="texmarble" rgba=".7 .7 .7 1"/>
</asset>
<worldbody>
<light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
<geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
<body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
<geom type="capsule" size=".1 .1" material="matmarble" group="1" condim="1"/>
</body>
</worldbody>
</mujoco>
model/softbox.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Soft box">
<include file="scene.xml"/>
<option solver="CG" tolerance="1e-6"/>
<size nconmax="500" njmax="5000" nstack="5000000"/>
<worldbody>
<body pos="0 0 1">
<freejoint/>
<composite type="box" count="7 7 7" spacing="0.04">
<skin texcoord="true" material="matsponge" rgba=".7 .7 .7 1"/>
<geom type="capsule" size=".015 0.05" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
model/softcylinder.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Soft cylinder">
<include file="scene.xml"/>
<option solver="CG" tolerance="1e-6"/>
<size nconmax="500" njmax="5000" nstack="5000000"/>
<worldbody>
<body pos="0 0 1">
<freejoint/>
<composite type="cylinder" count="5 7 9" spacing="0.05">
<skin texcoord="true" material="matsponge" rgba=".7 .7 .7 1"/>
<geom type="capsule" size=".015 0.05" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
model/softellipsoid.xml
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<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Soft ellipsoid">
<include file="scene.xml"/>
<option solver="CG" tolerance="1e-6"/>
<size nconmax="500" njmax="5000" nstack="5000000"/>
<worldbody>
<body pos="0 0 1">
<freejoint/>
<composite type="ellipsoid" count="5 7 9" spacing="0.05">
<skin texcoord="true" material="matsponge" rgba=".7 .7 .7 1"/>
<geom type="capsule" size=".015 0.05" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
model/sponge.png
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