Behron
60aaea751f
More merge conflicts. Taking main changes then will integrate mine.
213 lines
11 KiB
XML
213 lines
11 KiB
XML
<mujoco model="berkeley_humanoid">
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<compiler angle="radian" meshdir="assets"/>
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<default>
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<default class="berkeley_humanoid">
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<joint axis="0 0 1"/>
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<position inheritrange="1"/>
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<default class="hxx">
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<joint armature="0.0056" frictionloss="0.3" actuatorfrcrange="-20 20" range="-0.610865 0.610865"/>
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<position kp="10" kv="1.5"/>
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</default>
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<default class="hfe">
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<joint armature="0.007614" frictionloss="0.3" actuatorfrcrange="-30 30" range="-1.74533 0.523599"/>
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<position kp="15" kv="1.5"/>
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</default>
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<default class="kfe">
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<joint armature="0.0056" frictionloss="1.0" actuatorfrcrange="-30 30" range="0 2.0944"/>
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<position kp="1" kv=".1"/>
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</default>
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<default class="ffe">
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<joint armature="0.0056" frictionloss="1.0" actuatorfrcrange="-20 20" range="-0.523599 0.698132"/>
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<position kp="1" kv=".1"/>
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</default>
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<default class="faa">
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<joint armature="0.0004941" frictionloss=".1" actuatorfrcrange="-5 5" range="-0.523599 0.523599"/>
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<position kp="1" kv=".1"/>
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</default>
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<default class="visual">
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<geom type="mesh" contype="0" conaffinity="0" density="0" group="2" material="metal"/>
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</default>
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<default class="collision">
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<geom group="3"/>
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<default class="foot1">
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<geom friction="0.8 0.02 0.01" size="0.08 0.0275 0.006" pos="0 -0.0429038 0.0133277" type="box"/>
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</default>
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<default class="foot2">
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<geom size="0.027 0.0325" pos="0 9.61687e-05 0.0388277" type="cylinder"/>
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</default>
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</default>
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<site size="0.01" rgba="1 0 0 1" group="4"/>
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</default>
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</default>
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<asset>
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<material name="metal" rgba=".3 .3 .3 1"/>
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<mesh file="torso.stl"/>
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<mesh file="ll_hr.stl"/>
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<mesh file="ll_haa.stl"/>
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<mesh file="ll_hfe.stl"/>
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<mesh file="ll_kfe.stl"/>
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<mesh file="ll_ffe.stl"/>
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<mesh file="ll_faa.stl"/>
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<mesh file="lr_hr.stl"/>
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<mesh file="lr_haa.stl"/>
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<mesh file="lr_hfe.stl"/>
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<mesh file="lr_kfe.stl"/>
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<mesh file="lr_ffe.stl"/>
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<mesh file="lr_faa.stl"/>
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</asset>
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<worldbody>
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<light name="spotlight" mode="targetbodycom" target="torso" pos="0 -1 2"/>
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<body name="torso" childclass="berkeley_humanoid" pos="0 0 0.6">
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<freejoint/>
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<site name="imu"/>
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<camera name="track" pos="1.210 -0.435 0.32" xyaxes="0.342 0.940 0.000 -0.321 0.117 0.940" mode="trackcom"/>
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<inertial pos="0.0123294 -0.0023557 0.114047" quat="0.997324 0.0100377 0.00560983 -0.0721951" mass="5.37812"
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diaginertia="0.0900564 0.0815619 0.0530251"/>
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<geom class="visual" mesh="torso"/>
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<geom class="collision" size="0.09 0.125 0.125" pos="0.02 0 0.12" type="box"/>
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<body name="ll_hr" pos="0 0.07 0" quat="0.92388 0 0.382683 0">
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<inertial pos="-0.00717501 0.000638 -0.0603296" quat="0.997785 0.00699266 0.066053 0.00374607" mass="0.797"
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diaginertia="0.00165598 0.00124847 0.000774206"/>
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<joint name="LL_HR" class="hxx"/>
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<geom pos="0 -0.07 0" quat="0.92388 0 -0.382683 0" class="visual" mesh="ll_hr"/>
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<body name="ll_haa" pos="0.0158 0 -0.065" quat="1 0 -1 0">
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<inertial pos="0.000606614 -0.009735 -0.0611092" quat="0.702991 -0.06137 0.0554512 0.706373" mass="0.897"
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diaginertia="0.0018904 0.0014613 0.000923049"/>
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<joint name="LL_HAA" class="hxx"/>
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<geom pos="0.065 -0.07 0.0158" quat="0.92388 0 0.382683 0" class="visual" mesh="ll_haa"/>
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<geom class="collision" size="0.055 0.025" pos="6.77985e-05 -0.015 -0.0649318"
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quat="0.653281 0.653281 0.270598 -0.270598" type="cylinder"/>
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<body name="ll_hfe" pos="0 0.0158 -0.065" quat="0.653281 -0.653281 -0.270598 -0.270598">
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<inertial pos="-0.0596998 -0.000999287 0.045473" quat="-0.00572221 0.744789 -0.0182535 0.667026"
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mass="2.689" diaginertia="0.0191406 0.0181903 0.00583016"/>
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<joint name="LL_HFE" class="hfe"/>
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<geom pos="0.103096 -0.0111723 -0.0858" quat="0.5 0.5 0.5 0.5" class="visual" mesh="ll_hfe"/>
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<geom class="collision" size="0.0615 0.045" pos="9.61687e-05 -2.87143e-07 0.0542" quat="0 -1 -1 0"
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type="cylinder"/>
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<geom class="collision" size="0.052 0.04" pos="-0.114904 -2.87143e-07 0.0592" quat="0 -1 -1 0"
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type="cylinder"/>
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<body name="ll_kfe" pos="-0.22 0 0.0742" quat="1 0 0 0">
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<inertial pos="-0.0856948 -0.00928029 -0.002232" quat="-0.11773 0.702823 -0.0559586 0.69932" mass="0.35"
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diaginertia="0.00161117 0.00159463 9.70556e-05"/>
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<joint name="LL_KFE" class="kfe"/>
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<geom pos="0.323096 -0.0111723 -0.16" quat="0.5 0.5 0.5 0.5" class="visual" mesh="ll_kfe"/>
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<geom class="collision" size="0.015 0.02 0.08" pos="-0.0569038 -0.00117229 0" quat="0.5 0.5 0.5 0.5"
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type="box"/>
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<body name="ll_ffe" pos="-0.18 0 0">
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<inertial pos="-0.00107817 0.0237707 6.8e-05" quat="0.553259 0.458091 -0.532546 0.447717"
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mass="0.0993228" diaginertia="8.20308e-05 7.84322e-05 9.34827e-06"/>
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<joint name="LL_FFE" class="ffe"/>
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<geom pos="0.503096 -0.0111723 -0.16" quat="0.5 0.5 0.5 0.5" class="visual" mesh="ll_ffe"/>
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<body name="ll_faa" pos="0 0.0175 0" quat="0.5 -0.5 -0.5 -0.5">
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<inertial pos="-2.9e-05 -0.0163978 0.0153387" quat="0.985258 -0.171058 -0.00255986 0.000455342"
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mass="0.507" diaginertia="0.00109422 0.000978734 0.000375399"/>
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<joint name="LL_FAA" class="faa"/>
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<geom pos="-0.16 0.503096 -0.0286723" quat="0.5 -0.5 -0.5 -0.5" class="visual" mesh="ll_faa"/>
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<geom class="foot1" quat="0.45452 -0.541675 -0.541675 -0.45452"/>
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<geom class="foot2" quat="0 -1 -1 0"/>
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<site name="LL_FOOT" pos="0 -0.048689 0.014485" quat="-0.454519 0.541675 0.541675 0.454519"/>
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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>
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<body name="lr_hr" pos="0 -0.07 0" quat="0.92388 0 0.382683 0">
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<inertial pos="-0.00717501 -0.000638 -0.0603296" quat="0.997804 -0.00433689 0.066057 0.0019766" mass="0.797"
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diaginertia="0.00165632 0.00124845 0.000774613"/>
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<joint name="LR_HR" class="hxx"/>
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<geom pos="0 0.07 0" quat="0.92388 0 -0.382683 0" class="visual" mesh="lr_hr"/>
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<body name="lr_haa" pos="0.0158 0 -0.065" quat="1 0 -1 0">
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<inertial pos="0.000606614 0.009735 -0.0611092" quat="0.704792 0.0582267 -0.0597566 0.704491" mass="0.897"
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diaginertia="0.00189204 0.00146613 0.000918492"/>
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<joint name="LR_HAA" class="hxx"/>
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<geom pos="0.065 0.07 0.0158" quat="0.92388 0 0.382683 0" class="visual" mesh="lr_haa"/>
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<geom class="collision" size="0.055 0.025" pos="6.77985e-05 0.015 -0.0649318"
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quat="0.653281 0.653281 0.270598 -0.270598" type="cylinder"/>
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<body name="lr_hfe" pos="0 -0.0158 -0.065" quat="0.653281 -0.653281 -0.270598 -0.270598">
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<inertial pos="-0.0596998 -0.000999287 -0.045473" quat="0.018407 0.667006 0.00579507 0.744802" mass="2.689"
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diaginertia="0.0191386 0.0181883 0.00582996"/>
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<joint name="LR_HFE" class="hfe"/>
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<geom pos="0.103096 -0.0111723 0.0858" quat="0.5 0.5 0.5 0.5" class="visual" mesh="lr_hfe"/>
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<geom class="collision" size="0.0615 0.045" pos="9.61687e-05 -2.87143e-07 -0.0542" quat="0 -1 -1 0"
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type="cylinder"/>
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<geom class="collision" size="0.052 0.04" pos="-0.114904 -2.87143e-07 -0.0592" quat="0 -1 -1 0"
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type="cylinder"/>
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<body name="lr_kfe" pos="-0.22 0 -0.0742" quat="1 0 0 0">
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<inertial pos="-0.0856948 -0.00928029 0.002232" quat="0.055958 0.69932 0.11773 0.702823" mass="0.35"
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diaginertia="0.00161117 0.00159463 9.70556e-05"/>
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<joint name="LR_KFE" class="kfe"/>
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<geom pos="0.323096 -0.0111723 0.16" quat="0.5 0.5 0.5 0.5" class="visual" mesh="lr_kfe"/>
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<geom class="collision" size="0.015 0.02 0.08" pos="-0.0569038 -0.00117229 0" quat="0.5 0.5 0.5 0.5"
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type="box"/>
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<body name="lr_ffe" pos="-0.18 0 0" quat="1 0 0 0">
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<inertial pos="-0.00107817 0.0237707 -6.8e-05" quat="0.532548 0.447721 -0.553256 0.45809"
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mass="0.0993223" diaginertia="8.20306e-05 7.84321e-05 9.34825e-06"/>
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<joint name="LR_FFE" class="ffe"/>
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<geom pos="0.503096 -0.0111723 0.16" quat="0.5 0.5 0.5 0.5" class="visual" mesh="lr_ffe"/>
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<body name="lr_faa" pos="0 0.0175 0" quat="0.5 -0.5 -0.5 -0.5">
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<inertial pos="2.9e-05 -0.0163368 0.0153387" quat="0.985231 -0.171209 0.00251902 -0.000808065"
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mass="0.507" diaginertia="0.00109488 0.000978788 0.000376011"/>
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<joint name="LR_FAA" class="faa"/>
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<geom pos="0.16 0.503096 -0.0286723" quat="0.5 -0.5 -0.5 -0.5" class="visual" mesh="lr_faa"/>
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<geom class="foot1" quat="-0.45452 0.541675 0.541675 0.45452"/>
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<geom class="foot2" quat="0 1 1 0"/>
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<site name="LR_FOOT" pos="0 -0.048689 0.014485" quat="0.454519 -0.541675 -0.541675 -0.454519"/>
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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>
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</body>
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</worldbody>
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<actuator>
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<position class="hxx" name="LL_HR" joint="LL_HR"/>
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<position class="hxx" name="LL_HAA" joint="LL_HAA"/>
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<position class="hfe" name="LL_HFE" joint="LL_HFE"/>
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<position class="kfe" name="LL_KFE" joint="LL_KFE"/>
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<position class="ffe" name="LL_FFE" joint="LL_FFE"/>
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<position class="faa" name="LL_FAA" joint="LL_FAA"/>
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<position class="hxx" name="LR_HR" joint="LR_HR"/>
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<position class="hxx" name="LR_HAA" joint="LR_HAA"/>
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<position class="hfe" name="LR_HFE" joint="LR_HFE"/>
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<position class="kfe" name="LR_KFE" joint="LR_KFE"/>
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<position class="ffe" name="LR_FFE" joint="LR_FFE"/>
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<position class="faa" name="LR_FAA" joint="LR_FAA"/>
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</actuator>
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<sensor>
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<gyro site="imu" name="local_rpyrate"/>
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<velocimeter site="imu" name="local_linvel"/>
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<accelerometer site="imu" name="accelerometer"/>
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<framepos objtype="site" objname="imu" name="position"/>
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<framezaxis objtype="site" objname="imu" name="upvector"/>
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<framexaxis objtype="site" objname="imu" name="forwardvector"/>
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<framelinvel objtype="site" objname="imu" name="global_linvel"/>
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<frameangvel objtype="site" objname="imu" name="global_angvel"/>
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<framequat objtype="site" objname="imu" name="orientation"/>
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<framelinvel objtype="site" objname="LL_FOOT" name="left_foot_global_linvel"/>
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<framelinvel objtype="site" objname="LR_FOOT" name="right_foot_global_linvel"/>
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<force site="LL_FOOT" name="left_foot_force"/>
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<force site="LR_FOOT" name="right_foot_force"/>
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</sensor>
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<keyframe>
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<key name="home"
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qpos="
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0 0 0.515
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1 0 0 0
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-0.071 0.103 -0.463 0.983 -0.350 0.126
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0.071 -0.103 -0.463 0.983 -0.350 -0.126"
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ctrl="
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-0.071 0.103 -0.463 0.983 -0.350 0.126
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0.071 -0.103 -0.463 0.983 -0.350 -0.126"/>
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</keyframe>
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</mujoco>
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