Yuval Tassa
19d505d847
PiperOrigin-RevId: 648497401 Change-Id: I9f9a843abfb710afaf25798fa659efd92bcd7007
159 lines
8.5 KiB
XML
159 lines
8.5 KiB
XML
<!-- Copyright 2023 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="Humanoid body">
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<!-- Degree of Freedom: 27
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Actuators: 21
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This simplified humanoid model, introduced in [1], is designed for bipedal locomotion
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behaviours. While several variants of it exist in the wild, this version is based on the model
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in the DeepMind Control Suite [2], which has fairly realistic actuator gains.
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[1] Synthesis and Stabilization of Complex Behaviors through Online Trajectory Optimization.
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https://doi.org/10.1109/IROS.2012.6386025
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[2] DeepMind Control Suite, Tassa et al. https://arxiv.org/abs/1801.00690
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-->
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
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<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128"
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rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
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<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
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</asset>
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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="body"/>
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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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</default>
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</default>
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<visual>
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<map force="0.1" zfar="30"/>
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<rgba haze="0.15 0.25 0.35 1"/>
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<quality shadowsize="4096"/>
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<global offwidth="800" offheight="800"/>
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</visual>
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<worldbody>
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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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<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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<body name="head" pos="0 0 .19">
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<geom name="head" type="sphere" size=".09"/>
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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 -.26">
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<geom name="lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
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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">
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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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<body name="right_thigh" pos="0 -.1 -.04">
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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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<body name="right_shin" pos="0 .01 -.403">
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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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<body name="right_foot" pos="0 0 -.39">
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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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</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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<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="-110 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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<body name="left_shin" pos="0 -.01 -.403">
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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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<body name="left_foot" pos="0 0 -.39">
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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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</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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<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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<body name="right_hand" pos=".18 .18 .18">
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<geom name="right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
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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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<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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<body name="left_hand" pos=".18 -.18 .18">
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<geom name="left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
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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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</mujoco>
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