Saran Tunyasuvunakool
150 lines
9.9 KiB
XML
Executable File
150 lines
9.9 KiB
XML
Executable File
<!-- 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>
|