| | <mujoco> |
| | <visual> |
| | <global elevation="-10"/> |
| | </visual> |
| |
|
| | <compiler angle="radian"/> |
| |
|
| | |
| | <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> |
| |
|
| | |
| | <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> |
| |
|
