| <mujoco model="ball in cup"> | |
| <include file="./common/visual.xml"/> | |
| <include file="./common/skybox.xml"/> | |
| <include file="./common/materials.xml"/> | |
| <default> | |
| <motor ctrllimited="true" ctrlrange="-1 1" gear="5"/> | |
| <default class="cup"> | |
| <joint type="slide" damping="3" stiffness="20"/> | |
| <geom type="capsule" size=".008" material="self"/> | |
| </default> | |
| </default> | |
| <worldbody> | |
| <light name="light" directional="true" diffuse=".6 .6 .6" pos="0 0 2" specular=".3 .3 .3"/> | |
| <geom name="ground" type="plane" pos="0 0 0" size=".6 .2 10" material="grid"/> | |
| <camera name="cam0" pos="0 -1 .8" xyaxes="1 0 0 0 1 2"/> | |
| <camera name="cam1" pos="0 -1 .4" xyaxes="1 0 0 0 0 1" /> | |
| <body name="cup" pos="0 0 .6" childclass="cup"> | |
| <joint name="cup_x" axis="1 0 0"/> | |
| <joint name="cup_z" axis="0 0 1"/> | |
| <geom name="cup_part_0" fromto="-.05 0 0 -.05 0 -.075" /> | |
| <geom name="cup_part_1" fromto="-.05 0 -.075 -.025 0 -.1" /> | |
| <geom name="cup_part_2" fromto="-.025 0 -.1 .025 0 -.1" /> | |
| <geom name="cup_part_3" fromto=".025 0 -.1 .05 0 -.075" /> | |
| <geom name="cup_part_4" fromto=".05 0 -.075 .05 0 0" /> | |
| <site name="cup" pos="0 0 -.108" size=".005"/> | |
| <site name="target" type="box" pos="0 0 -.05" size=".05 .006 .05" group="4"/> | |
| </body> | |
| <body name="ball" pos="0 0 .2"> | |
| <joint name="ball_x" type="slide" axis="1 0 0"/> | |
| <joint name="ball_z" type="slide" axis="0 0 1"/> | |
| <geom name="ball" type="sphere" size=".025" material="effector"/> | |
| <site name="ball" size=".005"/> | |
| </body> | |
| </worldbody> | |
| <actuator> | |
| <motor name="x" joint="cup_x"/> | |
| <motor name="z" joint="cup_z"/> | |
| </actuator> | |
| <tendon> | |
| <spatial name="string" limited="true" range="0 0.3" width="0.003"> | |
| <site site="ball"/> | |
| <site site="cup"/> | |
| </spatial> | |
| </tendon> | |
| </mujoco> | |