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Remove model/humanoid100/humanoid100.xml (used <include>), replace with model/humanoid/humanoid100.xml (uses <attach>)

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PiperOrigin-RevId: 673123895
Change-Id: I0c3c6dac69d9fc12a6ea76d586c34503fc167bad
This commit is contained in:
Yuval Tassa
2024-09-10 15:13:02 -07:00
committed by Copybara-Service
parent 33e56ccb88
commit 4e3dc14f8e
8 changed files with 23 additions and 184 deletions
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model/humanoid100/humanoid100.xml → model/humanoid/humanoid100.xml
+14 -17
View File
@@ -19,8 +19,6 @@
Humanoid and 100 free primitive objects.
-->
<include file="humanoid_body.xml"/>
<option timestep="0.005"/>
<size memory="100M"/>
@@ -51,18 +49,16 @@
</default>
<asset>
<model file="humanoid.xml"/>
<texture type="skybox" builtin="gradient" width="512" height="512" 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"
rgba=".7 .7 .7 1"/>
<material name="capsule" texture="texgeom" texuniform="true" rgba=".4 .9 .6 1" />
<material name="ellipsoid" texture="texgeom" texuniform="true" rgba=".4 .6 .9 1" />
<material name="box" texture="texgeom" texuniform="true" rgba=".4 .9 .9 1" />
<material name="cylinder" texture="texgeom" texuniform="true" rgba=".8 .6 .8 1" />
<material name="sphere" texture="texgeom" texuniform="true" rgba=".9 .1 .1 1" />
<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" rgba=".7 .7 .7 1"/>
<material name="capsule" texture="texgeom" texuniform="true" rgba=".4 .9 .6 1"/>
<material name="ellipsoid" texture="texgeom" texuniform="true" rgba=".4 .6 .9 1"/>
<material name="box" texture="texgeom" texuniform="true" rgba=".4 .9 .9 1"/>
<material name="cylinder" texture="texgeom" texuniform="true" rgba=".8 .6 .8 1"/>
<material name="sphere" texture="texgeom" texuniform="true" rgba=".9 .1 .1 1"/>
</asset>
<visual>
@@ -73,12 +69,13 @@
<statistic extent="4"/>
<worldbody>
<attach model="Humanoid" body="torso" prefix="humanoid_"/>
<light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
<geom name="floor" type="plane" size="3 3 .5" 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="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"/>
model/humanoid100/humanoid_body.xml
-158
View File
@@ -1,158 +0,0 @@
<!-- 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 body">
<!-- Degree of Freedom: 27
Actuators: 21
This simplified humanoid model, introduced in [1], is designed for bipedal locomotion
behaviours. While several variants of it exist in the wild, this version is based on the model
in the DeepMind Control Suite [2], which has fairly realistic actuator gains.
[1] Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization.
https://doi.org/10.1109/IROS.2012.6386025
[2] DeepMind Control Suite, Tassa et al. https://arxiv.org/abs/1801.00690
-->
<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
</asset>
<default>
<motor ctrlrange="-1 1" ctrllimited="true"/>
<default class="body">
<geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body"/>
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
<default class="big_joint">
<joint damping="5" stiffness="10"/>
<default class="big_stiff_joint">
<joint stiffness="20"/>
</default>
</default>
</default>
</default>
<visual>
<map force="0.1" zfar="30"/>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="4096"/>
<global offwidth="800" offheight="800"/>
</visual>
<worldbody>
<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"/>
<freejoint name="root"/>
<geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
<geom name="upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
<body name="head" pos="0 0 .19">
<geom name="head" type="sphere" size=".09"/>
<camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
</body>
<body name="lower_waist" pos="-.01 0 -.26">
<geom name="lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
<joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
<joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
<body name="pelvis" pos="0 0 -.165">
<joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
<geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
<body name="right_thigh" pos="0 -.1 -.04">
<joint name="right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
<joint name="right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
<joint name="right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
<geom name="right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
<body name="right_shin" pos="0 .01 -.403">
<joint name="right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
<geom name="right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
<body name="right_foot" pos="0 0 -.39">
<joint name="right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
<joint name="right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
<geom name="right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
<geom name="left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
</body>
</body>
</body>
<body name="left_thigh" pos="0 .1 -.04">
<joint name="left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
<joint name="left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
<joint name="left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
<geom name="left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
<body name="left_shin" pos="0 -.01 -.403">
<joint name="left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
<geom name="left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
<body name="left_foot" pos="0 0 -.39">
<joint name="left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
<joint name="left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
<geom name="left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
<geom name="right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm" pos="0 -.17 .06">
<joint name="right_shoulder1" axis="2 1 1" range="-85 60"/>
<joint name="right_shoulder2" axis="0 -1 1" range="-85 60"/>
<geom name="right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
<body name="right_lower_arm" pos=".18 -.18 -.18">
<joint name="right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
<geom name="right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
<body name="right_hand" pos=".18 .18 .18">
<geom name="right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
</body>
</body>
</body>
<body name="left_upper_arm" pos="0 .17 .06">
<joint name="left_shoulder1" axis="2 -1 1" range="-60 85"/>
<joint name="left_shoulder2" axis="0 1 1" range="-60 85"/>
<geom name="left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
<body name="left_lower_arm" pos=".18 .18 -.18">
<joint name="left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
<geom name="left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
<body name="left_hand" pos=".18 -.18 .18">
<geom name="left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="abdomen_y" gear="40" joint="abdomen_y"/>
<motor name="abdomen_z" gear="40" joint="abdomen_z"/>
<motor name="abdomen_x" gear="40" joint="abdomen_x"/>
<motor name="right_hip_x" gear="40" joint="right_hip_x"/>
<motor name="right_hip_z" gear="40" joint="right_hip_z"/>
<motor name="right_hip_y" gear="120" joint="right_hip_y"/>
<motor name="right_knee" gear="80" joint="right_knee"/>
<motor name="right_ankle_x" gear="20" joint="right_ankle_x"/>
<motor name="right_ankle_y" gear="20" joint="right_ankle_y"/>
<motor name="left_hip_x" gear="40" joint="left_hip_x"/>
<motor name="left_hip_z" gear="40" joint="left_hip_z"/>
<motor name="left_hip_y" gear="120" joint="left_hip_y"/>
<motor name="left_knee" gear="80" joint="left_knee"/>
<motor name="left_ankle_x" gear="20" joint="left_ankle_x"/>
<motor name="left_ankle_y" gear="20" joint="left_ankle_y"/>
<motor name="right_shoulder1" gear="20" joint="right_shoulder1"/>
<motor name="right_shoulder2" gear="20" joint="right_shoulder2"/>
<motor name="right_elbow" gear="40" joint="right_elbow"/>
<motor name="left_shoulder1" gear="20" joint="left_shoulder1"/>
<motor name="left_shoulder2" gear="20" joint="left_shoulder2"/>
<motor name="left_elbow" gear="40" joint="left_elbow"/>
</actuator>
</mujoco>