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erikfrey/01_humanoids.xml

Created February 29, 2024 02:09
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01_humanoids.xml
<mujoco model="01 Humanoids">
<option timestep="0.005" solver="Newton" iterations="1" ls_iterations="4">
<flag eulerdamp="disable"/>
</option>
<custom>
<numeric data="4" name="max_contact_points"/>
</custom>
<size memory="100M"/>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="512" height="512"/>
<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"/>
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
</asset>
<default>
<motor ctrlrange="-1 1" ctrllimited="true"/>
<default class="body">
<geom type="capsule" condim="3" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" contype="0"/>
<joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
<default class="big_joint">
<joint damping="5" stiffness="10"/>
<default class="big_stiff_joint">
<joint stiffness="20"/>
</default>
</default>
</default>
</default>
<visual>
<map force="0.1" zfar="30"/>
<rgba haze="0.15 0.25 0.35 1"/>
<quality shadowsize="4096"/>
<global offwidth="800" offheight="800"/>
</visual>
<worldbody>
<geom size="10 10 .05" type="plane" material="grid" condim="3"/>
<light dir=".2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="-2 -10 4" cutoff="35"/>
<light dir="-.2 1 -.4" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="2 -10 4" cutoff="35"/>
<body name="1a_torso" pos="-1 0 1.5" childclass="body">
<camera name="1a_back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
<camera name="1a_side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
<freejoint name="1a_root"/>
<geom name="1a_torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
<geom name="1a_upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
<body name="1a_head" pos="0 0 .19">
<geom name="1a_head" type="sphere" size=".09"/>
<camera name="1a_egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
</body>
<body name="1a_lower_waist" pos="-.01 0 -.26">
<geom name="1a_lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
<joint name="1a_abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
<joint name="1a_abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="big_joint"/>
<body name="1a_pelvis" pos="0 0 -.165">
<joint name="1a_abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
<geom name="1a_butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
<body name="1a_right_thigh" pos="0 -.1 -.04">
<joint name="1a_right_hip_x" axis="1 0 0" range="-25 5" class="big_joint"/>
<joint name="1a_right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
<joint name="1a_right_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
<geom name="1a_right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
<body name="1a_right_shin" pos="0 .01 -.403">
<joint name="1a_right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
<geom name="1a_right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
<body name="1a_right_foot" pos="0 0 -.39">
<joint name="1a_right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
<joint name="1a_right_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
<geom name="1a_right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
<geom name="1a_left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
</body>
</body>
</body>
<body name="1a_left_thigh" pos="0 .1 -.04">
<joint name="1a_left_hip_x" axis="-1 0 0" range="-25 5" class="big_joint"/>
<joint name="1a_left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
<joint name="1a_left_hip_y" axis="0 1 0" range="-110 20" class="big_stiff_joint"/>
<geom name="1a_left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
<body name="1a_left_shin" pos="0 -.01 -.403">
<joint name="1a_left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
<geom name="1a_left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
<body name="1a_left_foot" pos="0 0 -.39">
<joint name="1a_left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" stiffness="6"/>
<joint name="1a_left_ankle_x" pos="0 0 .04" axis="1 0 .5" range="-50 50" stiffness="3"/>
<geom name="1a_left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
<geom name="1a_right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
</body>
</body>
</body>
</body>
</body>
<body name="1a_right_upper_arm" pos="0 -.17 .06">
<joint name="1a_right_shoulder1" axis="2 1 1" range="-85 60"/>
<joint name="1a_right_shoulder2" axis="0 -1 1" range="-85 60"/>
<geom name="1a_right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
<body name="1a_right_lower_arm" pos=".18 -.18 -.18">
<joint name="1a_right_elbow" axis="0 -1 1" range="-90 50" stiffness="0"/>
<geom name="1a_right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
<body name="1a_right_hand" pos=".18 .18 .18">
<geom name="1a_right_hand" type="sphere" size=".04" zaxis="1 1 1"/>
</body>
</body>
</body>
<body name="1a_left_upper_arm" pos="0 .17 .06">
<joint name="1a_left_shoulder1" axis="2 -1 1" range="-60 85"/>
<joint name="1a_left_shoulder2" axis="0 1 1" range="-60 85"/>
<geom name="1a_left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
<body name="1a_left_lower_arm" pos=".18 .18 -.18">
<joint name="1a_left_elbow" axis="0 -1 -1" range="-90 50" stiffness="0"/>
<geom name="1a_left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
<body name="1a_left_hand" pos=".18 -.18 .18">
<geom name="1a_left_hand" type="sphere" size=".04" zaxis="1 -1 1"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor gear="40" joint="1a_abdomen_y"/>
<motor gear="40" joint="1a_abdomen_z"/>
<motor gear="40" joint="1a_abdomen_x"/>
<motor gear="40" joint="1a_right_hip_x"/>
<motor gear="40" joint="1a_right_hip_z"/>
<motor gear="120" joint="1a_right_hip_y"/>
<motor gear="80" joint="1a_right_knee"/>
<motor gear="20" joint="1a_right_ankle_x"/>
<motor gear="20" joint="1a_right_ankle_y"/>
<motor gear="40" joint="1a_left_hip_x"/>
<motor gear="40" joint="1a_left_hip_z"/>
<motor gear="120" joint="1a_left_hip_y"/>
<motor gear="80" joint="1a_left_knee"/>
<motor gear="20" joint="1a_left_ankle_x"/>
<motor gear="20" joint="1a_left_ankle_y"/>
<motor gear="20" joint="1a_right_shoulder1"/>
<motor gear="20" joint="1a_right_shoulder2"/>
<motor gear="40" joint="1a_right_elbow"/>
<motor gear="20" joint="1a_left_shoulder1"/>
<motor gear="20" joint="1a_left_shoulder2"/>
<motor gear="40" joint="1a_left_elbow"/>
</actuator>
</mujoco>
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