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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
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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>