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added the first implementation of Alfredo - this will need polishing
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Original file line number | Diff line number | Diff line change |
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<mujoco model="humanoid"> | ||
<compiler angle="degree" inertiafromgeom="true" /> | ||
<default> | ||
<joint armature="1" damping="1" limited="true" /> | ||
<geom conaffinity="0" condim="1" contype="0" material="geom" /> | ||
<motor ctrllimited="true" ctrlrange="-.4 .4" /> | ||
</default> | ||
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<option iterations="8" timestep="0.003" /> | ||
<custom> | ||
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<numeric data="2500" name="constraint_limit_stiffness" /> | ||
<numeric data="27000" name="constraint_stiffness" /> | ||
<numeric data="30" name="constraint_ang_damping" /> | ||
<numeric data="80" name="constraint_vel_damping" /> | ||
<numeric data="-0.05" name="ang_damping" /> | ||
<numeric data="0.5" name="joint_scale_pos" /> | ||
<numeric data="0.1" name="joint_scale_ang" /> | ||
<numeric data="0" name="spring_mass_scale" /> | ||
<numeric data="1" name="spring_inertia_scale" /> | ||
<numeric data="20" name="matrix_inv_iterations" /> | ||
<numeric data="15" name="solver_maxls" /> | ||
</custom> | ||
<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" /> | ||
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||
<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" 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" /> | ||
<geom conaffinity="1" condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" size="20 20 0.125" type="plane" /> | ||
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||
|
||
<body name="torso" pos="0 0 1.4"> | ||
<camera name="track" mode="trackcom" pos="0 -4 0" xyaxes="1 0 0 0 0 1" /> | ||
<joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free" /> | ||
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule" /> | ||
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258" /> | ||
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule" /> | ||
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0"> | ||
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule" /> | ||
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge" /> | ||
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge" /> | ||
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0"> | ||
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge" /> | ||
<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule" /> | ||
<body name="right_thigh" pos="0 -0.1 -0.04"> | ||
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" /> | ||
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" /> | ||
<joint armature="0.0080" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge" /> | ||
<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule" /> | ||
<body name="right_shin" pos="0 0.01 -0.403"> | ||
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" type="hinge" /> | ||
<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule" /> | ||
<body name="right_foot" pos="0 0 -0.45"> | ||
<geom contype="1" name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0" /> | ||
</body> | ||
</body> | ||
</body> | ||
<body name="left_thigh" pos="0 0.1 -0.04"> | ||
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge" /> | ||
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge" /> | ||
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-110 20" stiffness="20" type="hinge" /> | ||
<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule" /> | ||
<body name="left_shin" pos="0 -0.01 -0.403"> | ||
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge" /> | ||
<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule" /> | ||
<body name="left_foot" pos="0 0 -0.45"> | ||
<geom contype="1" name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" /> | ||
</body> | ||
</body> | ||
</body> | ||
</body> | ||
</body> | ||
<body name="right_upper_arm" pos="0 -0.17 0.06"> | ||
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" /> | ||
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge" /> | ||
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule" /> | ||
<body name="right_lower_arm" pos=".18 -.18 -.18"> | ||
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" /> | ||
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule" /> | ||
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere" /> | ||
<camera pos="0 0 0" /> | ||
</body> | ||
</body> | ||
<body name="left_upper_arm" pos="0 0.17 0.06"> | ||
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" /> | ||
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge" /> | ||
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule" /> | ||
<body name="left_lower_arm" pos=".18 .18 -.18"> | ||
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge" /> | ||
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule" /> | ||
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere" /> | ||
</body> | ||
</body> | ||
</body> | ||
|
||
<!-- Target --> | ||
<body name="target" pos="0 0 1.0"> | ||
<!-- The joint `ref` attributes are removed for brax. --> | ||
<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-100.0 100.0" stiffness="0" type="slide"/> | ||
<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-100.0 100.0" stiffness="0" type="slide"/> | ||
<geom conaffinity="0" contype="0" name="target" pos="0 0 0" size=".1" type="sphere"/> | ||
</body> | ||
|
||
</worldbody> | ||
|
||
<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="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="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="left_shoulder1" name="left_shoulder1" /> | ||
<motor gear="25" joint="left_shoulder2" name="left_shoulder2" /> | ||
<motor gear="25" joint="left_elbow" name="left_elbow" /> | ||
</actuator> | ||
</mujoco> |
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