Home Verkennen Help
Inloggen
TorqueEngine
/
Torque3D
spiegel van https://github.com/TorqueGameEngines/Torque3D.git
2
0
Vork 0
Bestanden Issues 0 Wiki
Aftakking: Preview4_0
Aftakkingen Labels
Torque3D
/
Engine
/
lib
/
bullet
/
data
/
mjcf
/
humanoid_symmetric.xml

humanoid_symmetric.xml 7.4 KB
Permalink Geschiedenis Ruwe

123456789101112131415161718192021222324252627282930313233343536373839404142434445464748495051525354555657585960616263646566676869707172737475767778798081828384858687888990919293949596979899100101102103104105106107 
  1. <mujoco model="humanoid">
    2. 

  2.     <compiler angle="degree" inertiafromgeom="true"/>
    3. 

  3.     <default>
    4. 

  4.         <joint armature="1" damping="1" limited="true"/>
    5. 

  5.         <geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
    6. 

  6.         <motor ctrllimited="true" ctrlrange="-.4 .4"/>
    7. 

  7.     </default>
    8. 

  8.     <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
    9. 

  9.         <!-- <flags solverstat="enable" energy="enable"/>-->
    10. 

  10.     </option>
    11. 

  11.     <size nkey="5" nuser_geom="1"/>
    12. 

  12.     <visual>
    13. 

  13.         <map fogend="5" fogstart="3"/>
    14. 

  14.     </visual>
    15. 

  15.     <worldbody>
    16. 

  16.         <body name="torso" pos="0 0 1.4">
    17. 

  17.             <!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
    18. 

  18.             <geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
    19. 

  19.             <geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
    20. 

  20.             <geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
    21. 

  21.             <body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
    22. 

  22.                 <geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
    23. 

  23.                 <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"/>
    24. 

  24.                 <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"/>
    25. 

  25.                 <body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
    26. 

  26.                     <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"/>
    27. 

  27.                     <geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
    28. 

  28.                     <body name="right_thigh" pos="0 -0.1 -0.04">
    29. 

  29.                         <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"/>
    30. 

  30.                         <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"/>
    31. 

  31.                         <joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
    32. 

  32.                         <geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
    33. 

  33.                         <body name="right_shin" pos="0 0.01 -0.403">
    34. 

  34.                             <joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
    35. 

  35.                             <geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
    36. 

  36.                             <body name="right_foot" pos="0 0 -0.45">
    37. 

  37.                                 <geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
    38. 

  38.                             </body>
    39. 

  39.                         </body>
    40. 

  40.                     </body>
    41. 

  41.                     <body name="left_thigh" pos="0 0.1 -0.04">
    42. 

  42.                         <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"/>
    43. 

  43.                         <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"/>
    44. 

  44.                         <joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
    45. 

  45.                         <geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
    46. 

  46.                         <body name="left_shin" pos="0 -0.01 -0.403">
    47. 

  47.                             <joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
    48. 

  48.                             <geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
    49. 

  49.                             <body name="left_foot" pos="0 0 -0.45">
    50. 

  50.                                 <geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
    51. 

  51.                             </body>
    52. 

  52.                         </body>
    53. 

  53.                     </body>
    54. 

  54.                 </body>
    55. 

  55.             </body>
    56. 

  56.             <body name="right_upper_arm" pos="0 -0.17 0.06">
    57. 

  57.                 <joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
    58. 

  58.                 <joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
    59. 

  59.                 <geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
    60. 

  60.                 <body name="right_lower_arm" pos=".18 -.18 -.18">
    61. 

  61.                     <joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
    62. 

  62.                     <geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
    63. 

  63.                     <geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
    64. 

  64.                 </body>
    65. 

  65.             </body>
    66. 

  66.             <body name="left_upper_arm" pos="0 0.17 0.06">
    67. 

  67.                 <joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
    68. 

  68.                 <joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
    69. 

  69.                 <geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
    70. 

  70.                 <body name="left_lower_arm" pos=".18 .18 -.18">
    71. 

  71.                     <joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
    72. 

  72.                     <geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
    73. 

  73.                     <geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
    74. 

  74.                 </body>
    75. 

  75.             </body>
    76. 

  76.         </body>
    77. 

  77.     </worldbody>
    78. 

  78.     <tendon>
    79. 

  79.         <fixed name="left_hipknee">
    80. 

  80.             <joint coef="-1" joint="left_hip_y"/>
    81. 

  81.             <joint coef="1" joint="left_knee"/>
    82. 

  82.         </fixed>
    83. 

  83.         <fixed name="right_hipknee">
    84. 

  84.             <joint coef="-1" joint="right_hip_y"/>
    85. 

  85.             <joint coef="1" joint="right_knee"/>
    86. 

  86.         </fixed>
    87. 

  87.     </tendon>
    88. 

  88.     <actuator><!-- this section is not supported, same constants in code -->
    89. 

  89.         <motor gear="100" joint="abdomen_y" name="abdomen_y"/>
    90. 

  90.         <motor gear="100" joint="abdomen_z" name="abdomen_z"/>
    91. 

  91.         <motor gear="100" joint="abdomen_x" name="abdomen_x"/>
    92. 

  92.         <motor gear="100" joint="right_hip_x" name="right_hip_x"/>
    93. 

  93.         <motor gear="100" joint="right_hip_z" name="right_hip_z"/>
    94. 

  94.         <motor gear="300" joint="right_hip_y" name="right_hip_y"/>
    95. 

  95.         <motor gear="200" joint="right_knee" name="right_knee"/>
    96. 

  96.         <motor gear="100" joint="left_hip_x" name="left_hip_x"/>
    97. 

  97.         <motor gear="100" joint="left_hip_z" name="left_hip_z"/>
    98. 

  98.         <motor gear="300" joint="left_hip_y" name="left_hip_y"/>
    99. 

  99.         <motor gear="200" joint="left_knee" name="left_knee"/>
    100. 

  100.         <motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
    101. 

  101.         <motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
    102. 

  102.         <motor gear="25" joint="right_elbow" name="right_elbow"/>
    103. 

  103.         <motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
    104. 

  104.         <motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
    105. 

  105.         <motor gear="25" joint="left_elbow" name="left_elbow"/>
    106. 

  106.     </actuator>
    107. 

  107. </mujoco>
    108.