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Mujoco_WASM/model/humanoid100/humanoid100.xml
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Saran Tunyasuvunakool 4bf5630558 Move a number of files ahead of 2.1.1 launch.
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Change-Id: I087d6d61d4e2d82ce06ad9ac0adf7327db94dd9c
2021-12-16 14:35:55 +00:00

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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 and 100 objects">
<compiler angle="degree"/>
<option timestep="0.005" iterations="50" solver="Newton" jacobian="sparse" cone="pyramidal" tolerance="1e-10"/>
<size njmax="1500" nconmax="500" nstack="5000000"/>
<default>
<geom solimp=".9 .9 .01"/>
<default class="humanoid">
<geom material="humanoid"/>
<joint damping="1" limited="true"/>
</default>
<default class="object1">
<geom type="capsule" material="object1" size="0.1 0.05"/>
</default>
<default class="object2">
<geom type="ellipsoid" material="object2" size="0.15 0.1 0.07"/>
</default>
<default class="object3">
<geom type="box" material="object3" size="0.15 0.1 0.05"/>
</default>
<default class="object4">
<geom type="cylinder" material="object4" size="0.1 0.05" condim="4" friction="1 .01 .01"/>
</default>
<default class="object5">
<geom type="sphere" material="object5" size="0.1"/>
</default>
<default class="border">
<geom type="capsule" size="0.4" rgba=".4 .4 .4 1"/>
</default>
<default class="borderpost">
<geom type="box" size="0.41 0.41 0.41" rgba=".55 .55 .55 1"/>
</default>
</default>
<asset>
<texture type="skybox" builtin="gradient" width="128" height="128" rgb1=".4 .6 .8" rgb2="0 0 0"/>
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="128" height="128"
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<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"/>
<material name='humanoid' texture="texgeom" texuniform="true" rgba="1.2 1.2 0.6 1"/>
<material name='object1' texture="texgeom" texuniform="true" rgba=".4 .9 .6 1" />
<material name='object2' texture="texgeom" texuniform="true" rgba=".4 .6 .9 1" />
<material name='object3' texture="texgeom" texuniform="true" rgba=".4 .9 .9 1" />
<material name='object4' texture="texgeom" texuniform="true" rgba=".8 .6 .8 1" />
<material name='object5' texture="texgeom" texuniform="true" rgba=".9 .1 .1 1" />
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<visual>
<quality shadowsize="4096" offsamples="8"/>
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<statistic extent="4"/>
<worldbody>
<light directional="true" diffuse=".8 .8 .8" pos="0 0 10" dir="0 0 -10"/>
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<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" />
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<geom class="borderpost" pos="-3 3 0"/>
<geom class="borderpost" pos="3 -3 0"/>
<geom class="borderpost" pos="-3 -3 0"/>
<body name='torso' pos='0 0 1.4' childclass="humanoid">
<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' >
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<body name='pelvis' pos='0 0 -0.165' quat='1.000 0 -0.002 0' >
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<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' />
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<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' />
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<geom name='right_foot_cap1' type='capsule' fromto='-.07 -0.02 0 0.14 -0.04 0' size='0.027' />
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<body name='left_thigh' pos='0 0.1 -0.04' >
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<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' />
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