File size: 3,557 Bytes
2c55b92 | 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 | <mujoco>
<visual>
<global elevation="-10"/>
</visual>
<compiler angle="radian"/>
<!-- Note: actuator groups 1, 2, are disabled by default -->
<option actuatorgroupdisable="1 2" cone="elliptic"/>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="6 2" texuniform="false" reflectance=".2"/>
</asset>
<default>
<general ctrlrange="-1 1"/>
<geom friction=".4"/>
<default class="decor">
<geom type="cylinder" size=".03" fromto="0 -.03 0 0 .03 0" rgba="1 1 1 1"/>
</default>
<default class="arm">
<joint damping="5" axis="0 -1 0"/>
<geom type="capsule" size=".02" material="body"/>
</default>
<default class="object">
<geom type="cylinder" size="0.1" rgba="0 .9 0 1" fromto="0 -.03 0 0 .03 0"
solref="-10000 -10" priority="1"/>
<joint group="3"/>
</default>
<!-- Note: motors, position, intvelocity actuators are in groups 0, 1, 2, respectively -->
<default class="motor">
<motor group="0" gear="30" ctrlrange="-1 1"/>
</default>
<default class="position">
<position group="1" kp="60"/>
</default>
<default class="intvelocity">
<intvelocity group="2" kp="60" ctrlrange="-.5 .5"/>
</default>
</default>
<worldbody>
<geom name="floor" type="plane" size=".6 .2 0.01" material="grid"/>
<geom name="wall0" type="plane" size=".4 .2 0.01" material="grid" pos="-.6 0 .4" zaxis="1 0 0"/>
<geom name="wall1" type="plane" size=".4 .2 0.01" material="grid" pos=".6 0 .4" zaxis="-1 0 0"/>
<light pos="-.6 0 3" mode="targetbody" target="hand"/>
<light pos=".6 0 3" mode="targetbody" target="hand"/>
<body name="arm" pos="-.6 0 .6" childclass="arm">
<joint name="arm" range="-1.5 1.5"/>
<geom class="decor"/>
<geom name="arm" fromto="0 0 0 .7 0 0"/>
<body pos=".7 0 0">
<joint name="hand" range="-4.65 1.5"/>
<geom class="decor"/>
<geom fromto="0 0 0 0 0 0.4"/>
<body name="hand" pos="0 0 0.4">
<geom name="hand" type="sphere" size=".06" mass="0"/>
</body>
</body>
</body>
<body childclass="object" pos="-.3 0 .2">
<joint axis="1 0 0" type="slide"/>
<joint axis="0 0 1" type="slide"/>
<joint axis="0 1 0"/>
<geom/>
</body>
<body childclass="object" pos="-.2 0 .4">
<joint axis="1 0 0" type="slide"/>
<joint axis="0 0 1" type="slide"/>
<joint axis="0 1 0"/>
<geom/>
</body>
</worldbody>
<contact>
<exclude body1="world" body2="arm"/>
<pair geom1="arm" geom2="hand"/>
</contact>
<actuator>
<motor class="motor" name="arm torque" joint="arm"/>
<motor class="motor" name="hand torque" joint="hand"/>
<position class="position" name="arm position" joint="arm" ctrlrange="-1.5 1.5"/>
<position class="position" name="hand position" joint="hand" ctrlrange="-1.5 4.65"/>
<intvelocity class="intvelocity" name="arm velocity" joint="arm" actrange="-1.5 1.5"/>
<intvelocity class="intvelocity" name="hand velocity" joint="hand" actrange="-1.5 4.65"/>
</actuator>
</mujoco>
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