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新增挥手运动模式,修复 XML 解析错误（perspective/damping/floor 约束），兼容所有 MuJoCo 版本 #4654

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Merged
donghaiwang merged 19 commits into from
Dec 25, 2025
Merged

新增挥手运动模式,修复 XML 解析错误（perspective/damping/floor 约束），兼容所有 MuJoCo 版本 #4654

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4c438f2
新创建一个仿真人模型
oyzw2302 Dec 20, 2025
2d4248c
Merge branch 'OpenHUTB:main' into main
oyzw2302 Dec 20, 2025
7d4555a
Merge branch 'OpenHUTB:main' into main
oyzw2302 Dec 20, 2025
a510767
顶部导入区新增数学库
oyzw2302 Dec 20, 2025
7cb0dae
优化仿真人
oyzw2302 Dec 21, 2025
7c4e76c
为导入的库添加注释
oyzw2302 Dec 21, 2025
82e50ef
Merge branch 'main' into main
oyzw2302 Dec 21, 2025
59c7428
代码优化
oyzw2302 Dec 21, 2025
f08da6c
Merge branch 'main' of https://github.com/oyzw2302/nn
oyzw2302 Dec 21, 2025
93595d3
配置化与模块化, 性能优化 ,功能扩展与用户体验
oyzw2302 Dec 22, 2025
3775cfd
Merge branch 'main' into main
oyzw2302 Dec 22, 2025
2533aea
Merge branch 'OpenHUTB:main' into main
oyzw2302 Dec 23, 2025
e52c588
新增humanoid.xml文件，修改了humanoid_simulation.py读取humanoid.xml的路径，使代码能直接运行，…
oyzw2302 Dec 23, 2025
dec7100
Merge branch 'OpenHUTB:main' into main
oyzw2302 Dec 23, 2025
f561f3f
修复程序退出时出现的问题
oyzw2302 Dec 23, 2025
33fe6ca
Merge branch 'OpenHUTB:main' into main
oyzw2302 Dec 24, 2025
7ce1f4e
新增核心功能：关节角度实时可视化
oyzw2302 Dec 24, 2025
092f10d
新增行走 / 挥手运动模式,修复 XML 解析错误（perspective/damping/floor 约束），兼容所有 MuJoCo 版本
oyzw2302 Dec 24, 2025
263e8fa
Merge branch 'main' into main
oyzw2302 Dec 24, 2025
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216 changes: 97 additions & 119 deletions src/humanoid_3d_animation/humanoid.xml
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Original file line number Diff line number Diff line change
@@ -1,121 +1,99 @@
<mujoco model="humanoid">
<compiler angle="degree" inertiafromgeom="true"/>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
</default>
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
<!-- <flags solverstat="enable" energy="enable"/>-->
</option>
<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"/>
<!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
<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 condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
<!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
<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 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 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>
<mujoco model="simple_humanoid">
<compiler angle="radian" inertiafromgeom="true"/>
<option timestep="0.005" gravity="0 0 -9.81" iterations="100" tolerance="1e-6"/>
<visual>
<global azimuth="135" elevation="-30" perspective="0.01"/>
</visual>
<worldbody>
<light pos="0 0 5" dir="0 0 -1" diffuse="1 1 1" specular="0.1 0.1 0.1"/>
<geom name="floor" type="plane" size="10 10 0.1" pos="0 0 0" rgba="0.8 0.8 0.8 1" condim="3"/>

<!-- 机器人主体 -->
<body name="pelvis" pos="0 0 1.0">
<joint name="root" type="free"/>
<geom name="pelvis_geom" type="capsule" size="0.1" fromto="0 0 0 0 0 0.2" rgba="0.5 0.5 0.9 1" mass="5"/>

<body name="torso" pos="0 0 0.2">
<geom name="torso_geom" type="capsule" size="0.1" fromto="0 0 0 0 0 0.3" rgba="0.5 0.5 0.9 1" mass="8"/>

<body name="head" pos="0 0 0.3">
<geom name="head_geom" type="sphere" size="0.15" pos="0 0 0" rgba="0.8 0.5 0.5 1" mass="3"/>
</body>

<!-- 左手臂 -->
<body name="left_arm" pos="0.15 0 0.15">
<joint name="left_shoulder" type="hinge" axis="1 0 0" range="-1.57 1.57"/>
<geom name="left_upper_arm" type="capsule" size="0.05" fromto="0 0 0 0 0 0.2" rgba="0.5 0.9 0.5 1" mass="1"/>

<body name="left_forearm" pos="0 0 0.2">
<joint name="left_elbow" type="hinge" axis="1 0 0" range="-1.57 0"/>
<geom name="left_forearm_geom" type="capsule" size="0.04" fromto="0 0 0 0 0 0.2" rgba="0.5 0.9 0.5 1" mass="0.5"/>
</body>
</body>

<!-- 右手臂 -->
<body name="right_arm" pos="-0.15 0 0.15">
<joint name="right_shoulder" type="hinge" axis="1 0 0" range="-1.57 1.57"/>
<geom name="right_upper_arm" type="capsule" size="0.05" fromto="0 0 0 0 0 0.2" rgba="0.5 0.9 0.5 1" mass="1"/>

<body name="right_forearm" pos="0 0 0.2">
<joint name="right_elbow" type="hinge" axis="1 0 0" range="-1.57 0"/>
<geom name="right_forearm_geom" type="capsule" size="0.04" fromto="0 0 0 0 0 0.2" rgba="0.5 0.9 0.5 1" mass="0.5"/>
</body>
</body>
</worldbody>
<tendon>
<fixed name="left_hipknee">
<joint coef="-1" joint="left_hip_y"/>
<joint coef="1" joint="left_knee"/>
</fixed>
<fixed name="right_hipknee">
<joint coef="-1" joint="right_hip_y"/>
<joint coef="1" joint="right_knee"/>
</fixed>
</tendon>

<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>
<!-- 左腿部 -->
<body name="left_leg" pos="0.05 0 -0.2">
<joint name="left_hip" type="hinge" axis="1 0 0" range="-1.57 1.57"/>
<geom name="left_thigh" type="capsule" size="0.06" fromto="0 0 0 0 0 -0.3" rgba="0.9 0.9 0.5 1" mass="2"/>

<body name="left_calf" pos="0 0 -0.3">
<joint name="left_knee" type="hinge" axis="1 0 0" range="0 1.57"/>
<geom name="left_calf_geom" type="capsule" size="0.05" fromto="0 0 0 0 0 -0.3" rgba="0.9 0.9 0.5 1" mass="1"/>
</body>
</body>

<!-- 右腿部 -->
<body name="right_leg" pos="-0.05 0 -0.2">
<joint name="right_hip" type="hinge" axis="1 0 0" range="-1.57 1.57"/>
<geom name="right_thigh" type="capsule" size="0.06" fromto="0 0 0 0 0 -0.3" rgba="0.9 0.9 0.5 1" mass="2"/>

<body name="right_calf" pos="0 0 -0.3">
<joint name="right_knee" type="hinge" axis="1 0 0" range="0 1.57"/>
<geom name="right_calf_geom" type="capsule" size="0.05" fromto="0 0 0 0 0 -0.3" rgba="0.9 0.9 0.5 1" mass="1"/>
</body>
</body>
</body>
</body>
</worldbody>

<!-- 执行器定义（简化命名，与关节名一致） -->
<actuator>
<!-- 手臂关节电机 -->
<motor name="left_shoulder" joint="left_shoulder" ctrlrange="-1.57 1.57" gear="20"/>
<motor name="right_shoulder" joint="right_shoulder" ctrlrange="-1.57 1.57" gear="20"/>
<motor name="left_elbow" joint="left_elbow" ctrlrange="-1.57 0" gear="15"/>
<motor name="right_elbow" joint="right_elbow" ctrlrange="-1.57 0" gear="15"/>

<!-- 腿部关节电机 -->
<motor name="left_hip" joint="left_hip" ctrlrange="-1.57 1.57" gear="25"/>
<motor name="right_hip" joint="right_hip" ctrlrange="-1.57 1.57" gear="25"/>
<motor name="left_knee" joint="left_knee" ctrlrange="0 1.57" gear="20"/>
<motor name="right_knee" joint="right_knee" ctrlrange="0 1.57" gear="20"/>

<!-- 阻尼 -->
<damping joint="left_shoulder" damping="0.5"/>
<damping joint="right_shoulder" damping="0.5"/>
<damping joint="left_elbow" damping="0.5"/>
<damping joint="right_elbow" damping="0.5"/>
<damping joint="left_hip" damping="0.8"/>
<damping joint="right_hip" damping="0.8"/>
<damping joint="left_knee" damping="0.8"/>
<damping joint="right_knee" damping="0.8"/>
</actuator>

<!-- 固定骨盆防止倾倒 -->
<equality>
<weld body1="floor" body2="pelvis" solref="0.01 1" solimp="0.9 0.95 0.001"/>
</equality>
</mujoco>
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