File size: 12,551 Bytes
00e9adb | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 | <mujoco model="humanoid_ninja_warrior">
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<option timestep="0.005" iterations="50" solver="Newton" gravity="0 0 -9.81"/>
<default>
<joint limited="true" damping="1.0" armature="0.01" stiffness="0"/>
<geom condim="3" friction="1.2 0.1 0.1" solref="0.015 1.0" solimp="0.9 0.95 0.001"/>
<motor ctrlrange="-1.0 1.0" ctrllimited="true"/>
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0.1 0.15 0.2" width="512" height="512"/>
<texture name="grid" type="2d" builtin="checker" rgb1="0.15 0.17 0.22" rgb2="0.22 0.25 0.32" width="512" height="512" mark="edge" markrgb="0.8 0.8 0.8"/>
<material name="grid_mat" texture="grid" texrepeat="2 2" reflectance="0.1"/>
<material name="body_mat" rgba="0.2 0.7 0.9 1.0" shininess="0.5"/>
<material name="joint_mat" rgba="0.9 0.4 0.1 1.0"/>
<material name="foot_mat" rgba="0.1 0.2 0.3 1.0"/>
<material name="course_mat" rgba="0.85 0.25 0.2 1.0"/>
<material name="beam_mat" rgba="0.95 0.75 0.1 1.0"/>
<material name="barrier_mat" rgba="0.7 0.2 0.8 1.0"/>
<material name="finish_mat" rgba="0.1 0.85 0.3 1.0"/>
</asset>
<worldbody>
<light directional="true" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" pos="0 0 10" dir="0 0 -1"/>
<light directional="true" diffuse="0.4 0.4 0.4" pos="25 0 10" dir="-0.3 0 -0.9"/>
<!-- Floor / Pit -->
<geom name="floor" type="plane" size="60 10 0.1" material="grid_mat"/>
<!-- ═════════════════════════════════════════════════════════════════════════ -->
<!-- AMERICAN NINJA WARRIOR OBSTACLE COURSE -->
<!-- ═════════════════════════════════════════════════════════════════════════ -->
<!-- STAGE 0: Acceleration Runway (X: -2 to 8m, Z=0) -->
<geom name="start_line" type="box" pos="0 0 0.01" size="0.2 2.0 0.01" rgba="1 1 1 0.8"/>
<geom name="runway_guide_l" type="box" pos="4 1.8 0.05" size="4.0 0.05 0.05" rgba="0.5 0.5 0.5 0.5"/>
<geom name="runway_guide_r" type="box" pos="4 -1.8 0.05" size="4.0 0.05 0.05" rgba="0.5 0.5 0.5 0.5"/>
<!-- STAGE 1: Quad Steps / Angled Stepping Stones (X: 8 to 18m) -->
<geom name="step_1" type="box" pos="10.0 -0.6 0.2" size="0.8 0.6 0.2" euler="0 0 15" material="course_mat"/>
<geom name="step_2" type="box" pos="12.2 0.6 0.3" size="0.8 0.6 0.3" euler="0 0 -15" material="course_mat"/>
<geom name="step_3" type="box" pos="14.4 -0.5 0.35" size="0.8 0.6 0.35" euler="0 0 15" material="course_mat"/>
<geom name="step_4" type="box" pos="16.6 0.5 0.4" size="0.8 0.6 0.4" euler="0 0 -15" material="course_mat"/>
<geom name="platform_mid1" type="box" pos="18.5 0 0.45" size="1.0 1.2 0.45" material="course_mat"/>
<!-- STAGE 2: Elevated Balance Beam (X: 19.5 to 27.5m, Z=0.5m, width=0.35m) -->
<geom name="balance_beam" type="box" pos="23.5 0 0.5" size="4.0 0.25 0.5" material="beam_mat"/>
<geom name="platform_mid2" type="box" pos="28.5 0 0.5" size="1.0 1.5 0.5" material="course_mat"/>
<!-- STAGE 3: Hurdles & Stepping Barriers (X: 29.5 to 38m) -->
<geom name="hurdle_1" type="box" pos="31.5 0 0.2" size="0.1 1.5 0.2" material="barrier_mat"/>
<geom name="hurdle_2" type="box" pos="34.5 0 0.28" size="0.1 1.5 0.28" material="barrier_mat"/>
<geom name="hurdle_3" type="box" pos="37.5 0 0.22" size="0.1 1.5 0.22" material="barrier_mat"/>
<!-- STAGE 4: Warped Wall Incline Ramp & Summit (X: 38 to 48m) -->
<geom name="ramp_entry" type="box" pos="40.0 0 0.3" size="1.5 1.5 0.1" euler="0 15 0" material="course_mat"/>
<geom name="ramp_mid" type="box" pos="42.5 0 0.7" size="1.2 1.5 0.1" euler="0 25 0" material="course_mat"/>
<geom name="summit_platform" type="box" pos="46.0 0 1.2" size="2.5 2.0 1.2" material="finish_mat"/>
<!-- Finish Buzzer Marker -->
<geom name="finish_buzzer" type="cylinder" pos="47.5 0 2.45" size="0.3 0.05" rgba="1 0.1 0.1 1"/>
<!-- Tracking cameras for viewing -->
<camera name="track_cam" mode="trackcom" pos="0 -4.5 2.0" xyaxes="1 0 0 0 0.4 1"/>
<camera name="behind_cam" mode="trackcom" pos="-3.6 0 1.8" xyaxes="0 -1 0 0.3 0 1"/>
<camera name="front_cam" mode="trackcom" pos="4.0 0 1.8" xyaxes="0 1 0 -0.3 0 1"/>
<camera name="aerial_cam" mode="fixed" pos="24 0 36" fovy="60" xyaxes="1 0 0 0 1 0"/>
<!-- ═════════════════════════════════════════════════════════════════════════ -->
<!-- BIPEDAL HUMANOID AGENT -->
<!-- ═════════════════════════════════════════════════════════════════════════ -->
<body name="torso" pos="0 0 1.4">
<freejoint name="root"/>
<geom name="torso_geom" type="capsule" fromto="0 -0.07 0 0 0.07 0" size="0.11" material="body_mat"/>
<geom name="chest_geom" type="capsule" fromto="0 -0.12 0.2 0 0.12 0.2" size="0.13" material="body_mat"/>
<!-- Head with forward vision mount -->
<body name="head" pos="0 0 0.38">
<geom name="head_geom" type="sphere" size="0.11" material="joint_mat"/>
<geom name="visor" type="capsule" fromto="0.08 -0.06 0 0.08 0.06 0" size="0.03" rgba="0.1 0.9 0.9 1"/>
<camera name="eye_cam" pos="0.15 0 0" xyaxes="0 -1 0 0 0 1" fovy="50"/>
</body>
<!-- Abdomen / Pelvis -->
<body name="pelvis" pos="0 0 -0.22">
<joint name="abdomen_z" type="hinge" axis="0 0 1" range="-45 45"/>
<joint name="abdomen_y" type="hinge" axis="0 1 0" range="-30 30"/>
<joint name="abdomen_x" type="hinge" axis="1 0 0" range="-35 35"/>
<geom name="pelvis_geom" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.12" material="body_mat"/>
<!-- RIGHT LEG -->
<body name="right_thigh" pos="0 -0.12 -0.12">
<joint name="right_hip_x" type="hinge" axis="1 0 0" range="-35 25"/>
<joint name="right_hip_z" type="hinge" axis="0 0 1" range="-35 35"/>
<joint name="right_hip_y" type="hinge" axis="0 1 0" range="-130 35"/>
<geom name="right_thigh_geom" type="capsule" fromto="0 0 0 0 0 -0.36" size="0.07" material="body_mat"/>
<body name="right_shin" pos="0 0 -0.38">
<joint name="right_knee" type="hinge" axis="0 1 0" range="0 140"/>
<geom name="right_shin_geom" type="capsule" fromto="0 0 0 0 0 -0.34" size="0.055" material="body_mat"/>
<body name="right_foot" pos="0.04 0 -0.38">
<joint name="right_ankle_y" type="hinge" axis="0 1 0" range="-45 45"/>
<joint name="right_ankle_x" type="hinge" axis="1 0 0" range="-25 25"/>
<!-- Rectangular foot sole for solid contact mechanics -->
<geom name="right_foot_geom" type="box" pos="0.04 0 -0.03" size="0.11 0.055 0.03" material="foot_mat"/>
<site name="right_foot_site" pos="0.04 0 -0.05" size="0.08 0.04 0.01" type="box"/>
</body>
</body>
</body>
<!-- LEFT LEG -->
<body name="left_thigh" pos="0 0.12 -0.12">
<joint name="left_hip_x" type="hinge" axis="1 0 0" range="-25 35"/>
<joint name="left_hip_z" type="hinge" axis="0 0 1" range="-35 35"/>
<joint name="left_hip_y" type="hinge" axis="0 1 0" range="-130 35"/>
<geom name="left_thigh_geom" type="capsule" fromto="0 0 0 0 0 -0.36" size="0.07" material="body_mat"/>
<body name="left_shin" pos="0 0 -0.38">
<joint name="left_knee" type="hinge" axis="0 1 0" range="0 140"/>
<geom name="left_shin_geom" type="capsule" fromto="0 0 0 0 0 -0.34" size="0.055" material="body_mat"/>
<body name="left_foot" pos="0.04 0 -0.38">
<joint name="left_ankle_y" type="hinge" axis="0 1 0" range="-45 45"/>
<joint name="left_ankle_x" type="hinge" axis="1 0 0" range="-25 25"/>
<geom name="left_foot_geom" type="box" pos="0.04 0 -0.03" size="0.11 0.055 0.03" material="foot_mat"/>
<site name="left_foot_site" pos="0.04 0 -0.05" size="0.08 0.04 0.01" type="box"/>
</body>
</body>
</body>
</body>
<!-- RIGHT ARM -->
<body name="right_upper_arm" pos="0 -0.2 0.2">
<joint name="right_shoulder_x" type="hinge" axis="1 0 0" range="-85 60"/>
<joint name="right_shoulder_y" type="hinge" axis="0 1 0" range="-90 90"/>
<geom name="right_uarm_geom" type="capsule" fromto="0 0 0 0 -0.26 0" size="0.045" material="body_mat"/>
<body name="right_lower_arm" pos="0 -0.28 0">
<joint name="right_elbow" type="hinge" axis="0 0 1" range="-90 50"/>
<geom name="right_larm_geom" type="capsule" fromto="0 0 0 0 -0.22 0" size="0.04" material="body_mat"/>
<geom name="right_hand" type="sphere" pos="0 -0.25 0" size="0.05" material="joint_mat"/>
</body>
</body>
<!-- LEFT ARM -->
<body name="left_upper_arm" pos="0 0.2 0.2">
<joint name="left_shoulder_x" type="hinge" axis="1 0 0" range="-60 85"/>
<joint name="left_shoulder_y" type="hinge" axis="0 1 0" range="-90 90"/>
<geom name="left_uarm_geom" type="capsule" fromto="0 0 0 0 0.26 0" size="0.045" material="body_mat"/>
<body name="left_lower_arm" pos="0 0.28 0">
<joint name="left_elbow" type="hinge" axis="0 0 1" range="-50 90"/>
<geom name="left_larm_geom" type="capsule" fromto="0 0 0 0 0.22 0" size="0.04" material="body_mat"/>
<geom name="left_hand" type="sphere" pos="0 0.25 0" size="0.05" material="joint_mat"/>
</body>
</body>
</body>
</worldbody>
<!-- ═════════════════════════════════════════════════════════════════════════ -->
<!-- 21 ACTUATORS (TORQUE CONTROL) -->
<!-- ═════════════════════════════════════════════════════════════════════════ -->
<actuator>
<!-- Abdomen (Core Stabilization: 160 Nm authority for 46.75 kg upper body) -->
<motor name="act_abdomen_z" joint="abdomen_z" gear="120"/>
<motor name="act_abdomen_y" joint="abdomen_y" gear="160"/>
<motor name="act_abdomen_x" joint="abdomen_x" gear="160"/>
<!-- Right Leg -->
<motor name="act_right_hip_x" joint="right_hip_x" gear="160"/>
<motor name="act_right_hip_z" joint="right_hip_z" gear="160"/>
<motor name="act_right_hip_y" joint="right_hip_y" gear="260"/>
<motor name="act_right_knee" joint="right_knee" gear="260"/>
<motor name="act_right_ankle_y" joint="right_ankle_y" gear="100"/>
<motor name="act_right_ankle_x" joint="right_ankle_x" gear="100"/>
<!-- Left Leg -->
<motor name="act_left_hip_x" joint="left_hip_x" gear="160"/>
<motor name="act_left_hip_z" joint="left_hip_z" gear="160"/>
<motor name="act_left_hip_y" joint="left_hip_y" gear="260"/>
<motor name="act_left_knee" joint="left_knee" gear="260"/>
<motor name="act_left_ankle_y" joint="left_ankle_y" gear="100"/>
<motor name="act_left_ankle_x" joint="left_ankle_x" gear="100"/>
<!-- Arms -->
<motor name="act_right_shoulder_x" joint="right_shoulder_x" gear="50"/>
<motor name="act_right_shoulder_y" joint="right_shoulder_y" gear="50"/>
<motor name="act_right_elbow" joint="right_elbow" gear="50"/>
<motor name="act_left_shoulder_x" joint="left_shoulder_x" gear="50"/>
<motor name="act_left_shoulder_y" joint="left_shoulder_y" gear="50"/>
<motor name="act_left_elbow" joint="left_elbow" gear="50"/>
</actuator>
<!-- Ground contact sensors on feet -->
<sensor>
<touch name="sensor_right_foot" site="right_foot_site"/>
<touch name="sensor_left_foot" site="left_foot_site"/>
</sensor>
</mujoco>
|