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ee.xml
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<?xml version='1.0' encoding='utf-8'?>
<mujoco model="humanoid">
<compiler angle="degree" inertiafromgeom="true" />
<default>
<joint armature="1" damping="1" limited="true" />
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" />
<motor ctrllimited="true" ctrlrange="-.4 .4" />
</default>
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003" gravity="0 0 0" />
<size nkey="5" nuser_geom="1" />
<visual>
<map fogend="5" fogstart="3" />
</visual>
<asset>
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100" />
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127" />
<texture builtin="checker" height="100" name="texplane" random="0.01" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100" />
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane" />
<material name="geom" texture="texgeom" texuniform="true" />
</asset>
<worldbody>
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1" />
<camera name="track_3" mode="fixed" pos="6.5 0 11.5" xyaxes="1 0 0 0 1 0" />
<camera name="staris_camera" mode="fixed" pos="-1 -6 2.6" xyaxes="0.88 -0.5 0 0.1 0.1 0.99" />
<geom condim="3" friction="1 .1 .1" material="MatPlane" name="flatfloor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 2" type="plane" />
<geom name="ladder1" type="box" size="0.054 1.2 0.005" pos="0.0 0 0.0025" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom1" type="box" size="0.06 1.2 0.005" pos="0.0 0 -0.0025" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<geom name="ladder2" type="box" size="0.054 1.2 0.005" pos="0.05 0 0.2525" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom2" type="box" size="0.06 1.2 0.005" pos="0.05 0 0.2475" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<geom name="ladder3" type="box" size="0.054 1.2 0.005" pos="0.1 0 0.5025" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom3" type="box" size="0.06 1.2 0.005" pos="0.1 0 0.4975" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<geom name="ladder4" type="box" size="0.054 1.2 0.005" pos="0.15 0 0.7525" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom4" type="box" size="0.06 1.2 0.005" pos="0.15 0 0.7475" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<geom name="ladder5" type="box" size="0.054 1.2 0.005" pos="0.2 0 1.0025" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom5" type="box" size="0.06 1.2 0.005" pos="0.2 0 0.9975" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<geom name="ladder6" type="box" size="0.054 1.2 0.005" pos="0.25 0 1.2525" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom6" type="box" size="0.06 1.2 0.005" pos="0.25 0 1.2475" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<geom name="ladder7" type="box" size="0.054 1.2 0.005" pos="0.3 0 1.5025" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom7" type="box" size="0.06 1.2 0.005" pos="0.3 0 1.4975" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<geom name="ladder8" type="box" size="0.054 1.2 0.005" pos="0.35 0 1.7525" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom8" type="box" size="0.06 1.2 0.005" pos="0.35 0 1.7475" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<geom name="ladder9" type="box" size="0.054 1.2 0.005" pos="0.4 0 2.0025" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom9" type="box" size="0.06 1.2 0.005" pos="0.4 0 1.9975" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<geom name="ladder10" type="box" size="0.054 1.2 0.005" pos="0.45 0 2.2525" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom10" type="box" size="0.06 1.2 0.005" pos="0.45 0 2.2475" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<geom name="ladder11" type="box" size="0.054 1.2 0.005" pos="0.5 0 2.5025" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom11" type="box" size="0.06 1.2 0.005" pos="0.5 0 2.4975" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<geom name="ladder12" type="box" size="0.054 1.2 0.005" pos="0.55 0 2.7525" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom12" type="box" size="0.06 1.2 0.005" pos="0.55 0 2.7475" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<geom name="ladder13" type="box" size="0.054 1.2 0.005" pos="0.6 0 3.0025" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom13" type="box" size="0.06 1.2 0.005" pos="0.6 0 2.9975" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<geom name="ladder14" type="box" size="0.054 1.2 0.005" pos="0.65 0 3.2525" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom14" type="box" size="0.06 1.2 0.005" pos="0.65 0 3.2475" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<geom name="ladder15" type="box" size="0.054 1.2 0.005" pos="0.7 0 3.5025" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom15" type="box" size="0.06 1.2 0.005" pos="0.7 0 3.4975" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<geom name="ladder16" type="box" size="0.054 1.2 0.005" pos="0.75 0 3.7525" rgba="0 .9 0 1" condim="3" friction="1 .1 .1" />
<geom name="bottom16" type="box" size="0.06 1.2 0.005" pos="0.75 0 3.7475" rgba="0.9 0 0 1" condim="3" friction="1 .1 .1" />
<body name="torso" pos="-0.3 0 0.8">
<camera name="track" mode="trackcom" pos="0 -4 0" xyaxes="1 0 0 0 0 1" />
<camera name="track_2" mode="trackcom" pos="0 -6 0" xyaxes="1 0 0 0 0 1" />
<joint name="root" type="free" armature="0" limited="false" pos="0 0 0" stiffness="0" damping="0" />
<geom name="torso_geom" type="capsule" size="0.07" fromto="0 -0.07 0 0 0.07 0" />
<geom name="head_geom" type="sphere" size="0.09" pos="0 0 0.198" user="258" />
<geom name="uwaist_geom" type="capsule" size="0.06" fromto="-0.01 -0.06 -0.12 -0.01 0.06 -0.12" />
<body name="lwaist" pos="-.01 0 -0.26" quat="1.000 0 -0.002 0">
<geom name="lwaist_geom" type="capsule" size="0.06" fromto="0 -0.06 0 0 0.06 0" />
<joint name="abdomen_z" type="hinge" armature="0.02" axis="0 0 1" pos="0 0 0.065" range="-45 45" stiffness="20" damping="5" />
<joint name="abdomen_y" type="hinge" armature="0.02" axis="0 1 0" pos="0 0 0.065" range="-75 30" stiffness="10" damping="5" />
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
<joint name="abdomen_x" type="hinge" armature="0.02" axis="1 0 0" pos="0 0 0.1" range="-35 35" stiffness="10" damping="5" />
<geom name="pelvis_geom" type="capsule" size="0.09" fromto="-0.02 -0.07 0 -0.02 0.07 0" />
<body name="right_thigh" pos="0 -0.1 -0.04">
<joint name="right_hip_x" type="hinge" armature="0.01" axis="1 0 0" pos="0 0 0" range="-25 5" stiffness="10" damping="5" />
<joint name="right_hip_z" type="hinge" armature="0.01" axis="0 0 1" pos="0 0 0" range="-60 35" stiffness="10" damping="5" />
<joint name="right_hip_y" type="hinge" armature="0.01" axis="0 1 0" pos="0 0 0" range="-110 20" stiffness="20" damping="5" />
<geom name="right_thigh_geom" type="capsule" size="0.06" fromto="0 0 0 0 0.01 -0.02" />
<body name="right_shin" pos="0 0.01 -0.083">
<joint name="right_knee" type="hinge" armature="0.006" axis="0 -1 0" pos="0 0 0.02" range="-160 -2" />
<geom name="right_shin_geom" type="capsule" size="0.05" fromto="0 0 0 0 0 -0.02" />
<body name="right_foot" pos="0 0 -0.1">
<joint name="right_ankle" type="hinge" armature="0.006" axis="0 1 0" pos="0 0 0" range="-45 25" />
<geom name="right_foot_geom_1" type="capsule" size="0.025" fromto="-0.03 0 0 0.049221445499325625 0.011133848076805236 0" />
<geom name="right_foot_geom_2" type="capsule" size="0.025" fromto="-0.03 0 0 0.049221445499325625 -0.011133848076805236 0" />
<geom name="right_foot_sensor_geom" type="capsule" size="0.0252" fromto="0.05912412618674133 -0.01252557908640589 0 0.05912412618674133 0.01252557908640589 0" rgba="1 0 0 1" />
</body>
</body>
</body>
<body name="left_thigh" pos="0 0.1 -0.04">
<joint name="left_hip_x" type="hinge" armature="0.01" axis="-1 0 0" pos="0 0 0" range="-25 5" stiffness="10" damping="5" />
<joint name="left_hip_z" type="hinge" armature="0.01" axis="0 0 -1" pos="0 0 0" range="-60 35" stiffness="10" damping="5" />
<joint name="left_hip_y" type="hinge" armature="0.01" axis="0 1 0" pos="0 0 0" range="-110 20" stiffness="20" damping="5" />
<geom name="left_thigh_geom" type="capsule" size="0.06" fromto="0 0 0 0 -0.01 -0.02" />
<body name="left_shin" pos="0 -0.01 -0.083">
<joint name="left_knee" type="hinge" armature="0.006" axis="0 -1 0" pos="0 0 0.02" range="-160 -2" />
<geom name="left_shin_geom" type="capsule" size="0.05" fromto="0 0 0 0 0 -0.02" />
<body name="left_foot" pos="0 0 -0.1">
<joint name="left_ankle" type="hinge" armature="0.006" axis="0 1 0" pos="0 0 0" range="-45 25" />
<geom name="left_foot_geom_1" type="capsule" size="0.025" fromto="-0.03 0 0 0.049221445499325625 0.011133848076805236 0" />
<geom name="left_foot_geom_2" type="capsule" size="0.025" fromto="-0.03 0 0 0.049221445499325625 -0.011133848076805236 0" />
<geom name="left_foot_sensor_geom" type="capsule" size="0.0252" fromto="0.05912412618674133 -0.01252557908640589 0 0.05912412618674133 0.01252557908640589 0" rgba="1 0 0 1" />
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm" pos="0 -0.17 0.06">
<joint name="right_shoulder1" type="hinge" armature="0.0068" axis="0 1 0" pos="0 0 0" range="-95 80" stiffness="1" />
<joint name="right_shoulder2" type="hinge" armature="0.0051" axis="0 0 1" pos="0 0 0" range="-85 30" stiffness="1" />
<geom name="right_upper_arm_geom" type="capsule" size="0.04" fromto="0 0 0 0.2 0 0" />
<body name="right_lower_arm" pos="0.22 0 0">
<joint name="right_elbow" type="hinge" armature="0.0028" axis="0 1 0" pos="0 0 0" range="-50 90" stiffness="0" />
<geom name="right_lower_arm_geom" type="capsule" size="0.031" fromto="0 0 0 0 0 0.21" />
<body name="right_hand" pos="0 0 0.21">
<geom name="right_hand_geom" type="capsule" size="0.031" fromto="0.02 0 0 0.16999999999999998 0 0" />
<geom name="right_hand_sensor_geom" type="capsule" size="0.033" fromto="0.093 0 0 0.097 0 0" rgba="1 0 0 1" />
<joint name="right_wrist" type="hinge" armature="0.0028" axis="0 1 0" pos="0 0 0" range="-80 20" stiffness="0" />
</body>
</body>
</body>
<body name="left_upper_arm" pos="0 0.17 0.06">
<joint name="left_shoulder1" type="hinge" armature="0.0068" axis="0 1 0" pos="0 0 0" range="-95 80" stiffness="1" />
<joint name="left_shoulder2" type="hinge" armature="0.0051" axis="0 0 1" pos="0 0 0" range="-30 85" stiffness="1" />
<geom name="left_upper_arm_geom" type="capsule" size="0.04" fromto="0 0 0 0.2 0 0" />
<body name="left_lower_arm" pos="0.22 0 0">
<joint name="left_elbow" type="hinge" armature="0.0028" axis="0 1 0" pos="0 0 0" range="-50 90" stiffness="0" />
<geom name="left_lower_arm_geom" type="capsule" size="0.031" fromto="0 0 0 0 0 0.21" />
<body name="left_hand" pos="0 0 0.21">
<geom name="left_hand_geom" type="capsule" size="0.031" fromto="0.02 0 0 0.16999999999999998 0 0" />
<joint name="left_wrist" type="hinge" armature="0.0028" axis="0 1 0" pos="0 0 0" range="-80 20" stiffness="0" />
<geom name="left_hand_sensor_geom" type="capsule" size="0.033" fromto="0.093 0 0 0.097 0 0" rgba="1 0 0 1" />
</body>
</body>
</body>
</body>
</worldbody>
<tendon>
<fixed name="left_hipknee">
<joint coef="-1" joint="left_hip_y" />
<joint coef="1" joint="left_knee" />
</fixed>
<fixed name="right_hipknee">
<joint coef="-1" joint="right_hip_y" />
<joint coef="1" joint="right_knee" />
</fixed>
</tendon>
<actuator>
<motor gear="100" joint="abdomen_y" name="abdomen_y" />
<motor gear="100" joint="abdomen_z" name="abdomen_z" />
<motor gear="100" joint="abdomen_x" name="abdomen_x" />
<motor gear="100" joint="right_hip_x" name="right_hip_x" />
<motor gear="100" joint="right_hip_z" name="right_hip_z" />
<motor gear="300" joint="right_hip_y" name="right_hip_y" />
<motor gear="200" joint="right_knee" name="right_knee" />
<motor gear="50" joint="right_ankle" name="right_ankle" />
<motor gear="100" joint="left_hip_x" name="left_hip_x" />
<motor gear="100" joint="left_hip_z" name="left_hip_z" />
<motor gear="300" joint="left_hip_y" name="left_hip_y" />
<motor gear="200" joint="left_knee" name="left_knee" />
<motor gear="50" joint="left_ankle" name="left_ankle" />
<motor gear="25" joint="right_shoulder1" name="right_shoulder1" />
<motor gear="25" joint="right_shoulder2" name="right_shoulder2" />
<motor gear="25" joint="right_elbow" name="right_elbow" />
<motor gear="25" joint="right_wrist" name="right_wrist" />
<motor gear="25" joint="left_shoulder1" name="left_shoulder1" />
<motor gear="25" joint="left_shoulder2" name="left_shoulder2" />
<motor gear="25" joint="left_elbow" name="left_elbow" />
<motor gear="25" joint="left_wrist" name="left_wrist" />
</actuator>
</mujoco>