Erik Frey
3c0a56c1e5
PiperOrigin-RevId: 578738033 Change-Id: Id0e68c7b961380cb1ed88b40d99f202c3fa8e228
257 lines
11 KiB
XML
257 lines
11 KiB
XML
<!-- Copyright 2021 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">
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<option timestep="0.005" iterations="1" ls_iterations="4">
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<flag eulerdamp="disable"/>
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</option>
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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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<global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
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</visual>
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<statistic center="0 0 0.7"/>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
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<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" random="0.01"/>
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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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<!-- geoms -->
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<!-- TODO(robotics-simulation): support condim=1 for humanoid capsules. -->
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<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="0" conaffinity="0"/>
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<default class="thigh">
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<geom size=".06"/>
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</default>
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<default class="shin">
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<geom fromto="0 0 0 0 0 -.3" size=".049"/>
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</default>
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<default class="foot">
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<geom size=".027"/>
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<default class="foot1">
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<geom fromto="-.07 -.01 0 .14 -.03 0"/>
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</default>
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<default class="foot2">
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<geom fromto="-.07 .01 0 .14 .03 0"/>
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</default>
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</default>
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<default class="arm_upper">
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<geom size=".04"/>
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</default>
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<default class="arm_lower">
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<geom size=".031"/>
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</default>
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<default class="hand">
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<geom type="sphere" size=".04"/>
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</default>
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<!-- joints -->
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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="joint_big">
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<joint damping="5" stiffness="10"/>
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<default class="hip_x">
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<joint range="-30 10"/>
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</default>
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<default class="hip_z">
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<joint range="-60 35"/>
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</default>
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<default class="hip_y">
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<joint axis="0 1 0" range="-150 20"/>
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</default>
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<default class="joint_big_stiff">
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<joint stiffness="20"/>
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</default>
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</default>
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<default class="knee">
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<joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
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</default>
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<default class="ankle">
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<joint range="-50 50"/>
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<default class="ankle_y">
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<joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
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</default>
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<default class="ankle_x">
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<joint pos="0 0 .04" stiffness="3"/>
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</default>
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</default>
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<default class="shoulder">
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<joint range="-85 60"/>
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</default>
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<default class="elbow">
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<joint range="-100 50" stiffness="0"/>
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</default>
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</default>
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</default>
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<worldbody>
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<geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
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<light name="spotlight" mode="targetbodycom" target="torso" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 -6 4" cutoff="30"/>
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<body name="torso" pos="0 0 1.282" 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="waist_upper" 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="waist_lower" pos="-.01 0 -.26">
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<geom name="waist_lower" 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="joint_big_stiff"/>
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<joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
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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="joint_big"/>
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<geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
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<body name="thigh_right" pos="0 -.1 -.04">
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<joint name="hip_x_right" axis="1 0 0" class="hip_x"/>
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<joint name="hip_z_right" axis="0 0 1" class="hip_z"/>
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<joint name="hip_y_right" class="hip_y"/>
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<geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
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<body name="shin_right" pos="0 .01 -.4">
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<joint name="knee_right" class="knee"/>
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<geom name="shin_right" class="shin"/>
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<body name="foot_right" pos="0 0 -.39">
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<joint name="ankle_y_right" class="ankle_y"/>
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<joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
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<geom name="foot1_right" class="foot1"/>
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<geom name="foot2_right" class="foot2"/>
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</body>
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</body>
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</body>
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<body name="thigh_left" pos="0 .1 -.04">
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<joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
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<joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
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<joint name="hip_y_left" class="hip_y"/>
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<geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
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<body name="shin_left" pos="0 -.01 -.4">
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<joint name="knee_left" class="knee"/>
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<geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
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<body name="foot_left" pos="0 0 -.39">
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<joint name="ankle_y_left" class="ankle_y"/>
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<joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
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<geom name="foot1_left" class="foot1"/>
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<geom name="foot2_left" class="foot2"/>
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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="upper_arm_right" pos="0 -.17 .06">
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<joint name="shoulder1_right" axis="2 1 1" class="shoulder"/>
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<joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
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<geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
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<body name="lower_arm_right" pos=".18 -.18 -.18">
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<joint name="elbow_right" axis="0 -1 1" class="elbow"/>
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<geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
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<body name="hand_right" pos=".18 .18 .18">
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<geom name="hand_right" zaxis="1 1 1" class="hand"/>
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</body>
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</body>
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</body>
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<body name="upper_arm_left" pos="0 .17 .06">
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<joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
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<joint name="shoulder2_left" axis="0 -1 -1" class="shoulder"/>
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<geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
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<body name="lower_arm_left" pos=".18 .18 -.18">
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<joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
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<geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
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<body name="hand_left" pos=".18 -.18 .18">
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<geom name="hand_left" zaxis="1 -1 1" class="hand"/>
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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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<contact>
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<exclude body1="waist_lower" body2="thigh_right"/>
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<exclude body1="waist_lower" body2="thigh_left"/>
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<pair geom1="foot1_left" geom2="floor"/>
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<pair geom1="foot1_right" geom2="floor"/>
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<pair geom1="foot2_left" geom2="floor"/>
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<pair geom1="foot2_right" geom2="floor"/>
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</contact>
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<!-- <tendon>
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<fixed name="hamstring_right" limited="true" range="-0.3 2">
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<joint joint="hip_y_right" coef=".5"/>
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<joint joint="knee_right" coef="-.5"/>
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</fixed>
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<fixed name="hamstring_left" limited="true" range="-0.3 2">
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<joint joint="hip_y_left" coef=".5"/>
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<joint joint="knee_left" coef="-.5"/>
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</fixed>
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</tendon> -->
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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="hip_x_right" gear="40" joint="hip_x_right"/>
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<motor name="hip_z_right" gear="40" joint="hip_z_right"/>
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<motor name="hip_y_right" gear="120" joint="hip_y_right"/>
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<motor name="knee_right" gear="80" joint="knee_right"/>
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<motor name="ankle_x_right" gear="20" joint="ankle_x_right"/>
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<motor name="ankle_y_right" gear="20" joint="ankle_y_right"/>
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<motor name="hip_x_left" gear="40" joint="hip_x_left"/>
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<motor name="hip_z_left" gear="40" joint="hip_z_left"/>
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<motor name="hip_y_left" gear="120" joint="hip_y_left"/>
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<motor name="knee_left" gear="80" joint="knee_left"/>
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<motor name="ankle_x_left" gear="20" joint="ankle_x_left"/>
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<motor name="ankle_y_left" gear="20" joint="ankle_y_left"/>
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<motor name="shoulder1_right" gear="20" joint="shoulder1_right"/>
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<motor name="shoulder2_right" gear="20" joint="shoulder2_right"/>
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<motor name="elbow_right" gear="40" joint="elbow_right"/>
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<motor name="shoulder1_left" gear="20" joint="shoulder1_left"/>
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<motor name="shoulder2_left" gear="20" joint="shoulder2_left"/>
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<motor name="elbow_left" gear="40" joint="elbow_left"/>
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</actuator>
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<keyframe>
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<!--
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The values below are split into rows for readibility:
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torso position
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torso orientation
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spinal
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right leg
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left leg
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arms
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-->
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<key name="squat" qpos="0 0 0.596
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0.988015 0 0.154359 0
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0 0.4 0
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-0.25 -0.5 -2.5 -2.65 -0.8 0.56
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-0.25 -0.5 -2.5 -2.65 -0.8 0.56
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0 0 0 0 0 0"/>
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<key name="stand_on_left_leg" qpos="0 0 1.21948
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0.971588 -0.179973 0.135318 -0.0729076
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-0.0516 -0.202 0.23
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-0.24 -0.007 -0.34 -1.76 -0.466 -0.0415
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-0.08 -0.01 -0.37 -0.685 -0.35 -0.09
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0.109 -0.067 -0.7 -0.05 0.12 0.16"/>
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</keyframe>
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</mujoco>
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