Version 2.1: documentation, public API headers, and sample programs.
PiperOrigin-RevId: 403900419
This commit is contained in:
Saran Tunyasuvunakool
Vendored
+130
@@ -0,0 +1,130 @@
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% Force-Length-Velocity function of MuJoCo muscle model
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% Defaults: FLV(0.5, 1.6, 1.5, 1.3, 1.2)
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function FLV(lmin, lmax, vmax, fpmax, fvmax)
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% derived quantities
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a = 0.5*(lmin+1);
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b = 0.5*(1+lmax);
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c = fvmax-1;
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% length and velocity ranges to plot
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LL = linspace(lmin, lmax, 51);
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VV = linspace(-vmax, vmax, 51);
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% length-passive
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FP = zeros(size(LL));
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for i=1:length(LL)
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L = LL(i);
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if L<=1
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FP(i) = 0;
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elseif L<=b
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x = (L-1)/(b-1);
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FP(i) = 0.25*fpmax*x*x*x;
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else
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x = (L-b)/(b-1);
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FP(i) = 0.25*fpmax*(1+3*x);
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end
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end
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% length-active
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FL = zeros(size(LL));
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for i=1:length(LL)
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L = LL(i);
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FL(i) = bump(L, lmin, 1, lmax) + 0.15*bump(L, lmin, 0.5*(lmin+0.95), 0.95);
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end
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% velocity-active
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FV = zeros(size(VV));
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for i=1:length(VV)
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V = VV(i)/vmax;
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if V<=-1
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FV(i) = 0;
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elseif V<=0
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FV(i) = (V+1)*(V+1);
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elseif V<=c
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FV(i) = fvmax - (c-V)*(c-V)/c;
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else
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FV(i) = fvmax;
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end
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end
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% plot length
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figure(1);
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clf;
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subplot(2,2,1);
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plot(LL, FL, 'r', 'linewidth', 1);
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hold on;
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plot(LL, 0.5*FL, 'b', 'linewidth', 1);
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plot(LL, FP, 'k', 'linewidth', 1);
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axis tight;
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xlabel('length (L0)');
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ylabel('force (F0)');
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text(0.9, 0.85, 'act = 1.0');
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text(0.9, 0.4, 'act = 0.5');
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text(1.3, 1.2, 'passive');
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box off;
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grid on;
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set(gca, 'xtick', [lmin 1 lmax], 'xticklabel', {'lmin', '1', 'lmax'}, ...
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'ytick', [0 1 fpmax], 'yticklabel', {'0', '1', 'fpmax'});
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% plot velocity
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subplot(2,2,2);
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set( plot(VV, FV, 'linewidth', 1), 'color', [.1 .5 .1]);
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axis tight;
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xlabel('velocity (L0/s)');
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ylabel('force (F0)');
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box off;
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grid on;
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set(gca, 'xtick', [-vmax 0 vmax], 'xticklabel', {'-vmax', '0', 'vmax'}, ...
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'ytick', [0 1 fvmax], 'yticklabel', {'0', '1', 'fvmax'});
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% plot full activation
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subplot(2,2,3);
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surf(LL, VV, FV'*FL + ones(size(VV))'*FP);
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axis tight;
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xlabel('length');
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ylabel('velocity');
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zlabel('force');
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title('act = 1.0');
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box off;
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set(gca, 'xtick', [lmin, 1, lmax], 'ytick', [-vmax, 0, vmax], 'ztick', [0, 1]);
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% plot half activation
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subplot(2,2,4);
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surf(LL, VV, 0.5*FV'*FL + ones(size(VV))'*FP);
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axis tight;
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xlabel('length');
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ylabel('velocity');
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zlabel('force');
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title('act = 0.5');
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box off;
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set(gca, 'xtick', [lmin, 1, lmax], 'ytick', [-vmax, 0, vmax], 'ztick', [0, 1]);
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end
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% skewed bump function: quadratic spline
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function y = bump(L, A, mid, B)
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left = 0.5*(A+mid);
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right = 0.5*(mid+B);
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if (L<=A) || (L>=B)
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y = 0;
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elseif L<left
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x = (L-A)/(left-A);
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y = 0.5*x*x;
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elseif L<mid
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x = (mid-L)/(mid-left);
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y = 1-0.5*x*x;
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elseif L<right
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x = (L-mid)/(right-mid);
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y = 1-0.5*x*x;
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else
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x = (B-L)/(B-right);
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y = 0.5*x*x;
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end
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end
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Vendored
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Vendored
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Vendored
+42
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<mujoco model="example">
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<compiler coordinate="global"/>
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<default>
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<geom rgba=".8 .6 .4 1"/>
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</default>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
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</asset>
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<worldbody>
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<light pos="0 1 1" dir="0 -1 -1" diffuse="1 1 1"/>
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<body>
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<geom type="capsule" fromto="0 0 1 0 0 0.6" size="0.06"/>
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<joint type="ball" pos="0 0 1"/>
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<body>
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<geom type="capsule" fromto="0 0 0.6 0.3 0 0.6" size="0.04"/>
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<joint type="hinge" pos="0 0 0.6" axis="0 1 0"/>
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<joint type="hinge" pos="0 0 0.6" axis="1 0 0"/>
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<body>
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<geom type="ellipsoid" pos="0.4 0 0.6" size="0.1 0.08 0.02"/>
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<site name="end1" pos="0.5 0 0.6" type="sphere" size="0.01"/>
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<joint type="hinge" pos="0.3 0 0.6" axis="0 1 0"/>
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<joint type="hinge" pos="0.3 0 0.6" axis="0 0 1"/>
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</body>
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</body>
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</body>
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<body>
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<geom type="cylinder" fromto="0.5 0 0.2 0.5 0 0" size="0.07"/>
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<site name="end2" pos="0.5 0 0.2" type="sphere" size="0.01"/>
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<joint type="free"/>
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</body>
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</worldbody>
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<tendon>
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<spatial limited="true" range="0 0.6" width="0.005">
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<site site="end1"/>
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<site site="end2"/>
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</spatial>
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</tendon>
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</mujoco>
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Vendored
+678
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MuJoCo version 2.10
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model name example
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nq 15
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nv 13
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nu 0
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na 0
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nbody 5
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njnt 6
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ngeom 4
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||||
nsite 2
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||||
ncam 0
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nlight 1
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nmesh 0
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||||
nmeshvert 0
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nmeshface 0
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nmeshtexvert 0
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||||
nmeshgraph 0
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||||
nskin 0
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nskinvert 0
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||||
nskintexvert 0
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||||
nskinface 0
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||||
nskinbone 0
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||||
nskinbonevert 0
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||||
nhfield 0
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||||
nhfielddata 0
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ntex 1
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ntexdata 1179648
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nmat 0
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||||
npair 0
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||||
nexclude 0
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||||
neq 0
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||||
ntendon 1
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||||
nwrap 2
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||||
nsensor 0
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||||
nnumeric 0
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||||
nnumericdata 0
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||||
ntext 0
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||||
ntextdata 0
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||||
ntuple 0
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ntupledata 0
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||||
nkey 0
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||||
nuser_body 0
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||||
nuser_jnt 0
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||||
nuser_geom 0
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||||
nuser_site 0
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||||
nuser_cam 0
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nuser_tendon 0
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nuser_actuator 0
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nuser_sensor 0
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nnames 41
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nM 49
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nemax 0
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njmax 500
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nconmax 100
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nstack 1316805
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nuserdata 0
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||||
nmocap 0
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||||
nsensordata 0
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||||
nbuffer 1185209
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||||
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||||
timestep 0.002
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||||
apirate 1e+02
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||||
impratio 1
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||||
tolerance 1e-08
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||||
noslip_tolerance 1e-06
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||||
mpr_tolerance 1e-06
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||||
gravity 0 0 -9.8
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||||
wind 0 0 0
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||||
magnetic 0 -0.5 0
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||||
density 0
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||||
viscosity 0
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||||
o_margin 0
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||||
o_solref 0.02 1
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o_solimp 0.9 0.95 0.001 0.5 2
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||||
integrator 0
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||||
collision 0
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||||
collision 0
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||||
cone 0
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||||
jacobian 2
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||||
solver 2
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||||
iterations 100
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||||
noslip_iterations 0
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||||
mpr_iterations 50
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||||
disableflags 0
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||||
enableflags 0
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||||
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totalmass 11
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||||
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||||
meaninertia 0.86
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||||
meanmass 2.7
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||||
meansize 0.17
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extent 1.1
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||||
center 0.18 0 0.52
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||||
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||||
qpos0 1 0 0 0 0 0 0 0 0.5 0 0.1 1 0 0 0
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||||
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||||
qpos_spring 1 0 0 0 0 0 0 0 0.5 0 0.1 1 0 0 0
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||||
|
||||
|
||||
BODY 0:
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||||
name world
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||||
parentid 0
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||||
rootid 0
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||||
weldid 0
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||||
mocapid -1
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||||
jntnum 0
|
||||
jntadr -1
|
||||
dofnum 0
|
||||
dofadr -1
|
||||
geomnum 0
|
||||
geomadr -1
|
||||
simple 1
|
||||
sameframe 1
|
||||
pos 0 0 0
|
||||
quat 1 0 0 0
|
||||
ipos 0 0 0
|
||||
iquat 1 0 0 0
|
||||
mass 0
|
||||
subtreemass 11
|
||||
inertia 0 0 0
|
||||
invweight0 0 0
|
||||
|
||||
BODY 1:
|
||||
name
|
||||
parentid 0
|
||||
rootid 1
|
||||
weldid 1
|
||||
mocapid -1
|
||||
jntnum 1
|
||||
jntadr 0
|
||||
dofnum 3
|
||||
dofadr 0
|
||||
geomnum 1
|
||||
geomadr 0
|
||||
simple 0
|
||||
sameframe 1
|
||||
pos 0 0 0.8
|
||||
quat 1 0 0 0
|
||||
ipos 0 0 0
|
||||
iquat 1 0 0 0
|
||||
mass 5.2
|
||||
subtreemass 7.6
|
||||
inertia 0.096 0.096 0.0094
|
||||
invweight0 0.051 7.3
|
||||
|
||||
BODY 2:
|
||||
name
|
||||
parentid 1
|
||||
rootid 1
|
||||
weldid 2
|
||||
mocapid -1
|
||||
jntnum 2
|
||||
jntadr 1
|
||||
dofnum 2
|
||||
dofadr 3
|
||||
geomnum 1
|
||||
geomadr 1
|
||||
simple 0
|
||||
sameframe 1
|
||||
pos 0.15 0 -0.2
|
||||
quat 0.71 0 -0.71 0
|
||||
ipos 0 0 0
|
||||
iquat 1 0 0 0
|
||||
mass 1.7
|
||||
subtreemass 2.4
|
||||
inertia 0.017 0.017 0.0014
|
||||
invweight0 0.31 1.6e+02
|
||||
|
||||
BODY 3:
|
||||
name
|
||||
parentid 2
|
||||
rootid 1
|
||||
weldid 3
|
||||
mocapid -1
|
||||
jntnum 2
|
||||
jntadr 3
|
||||
dofnum 2
|
||||
dofadr 5
|
||||
geomnum 1
|
||||
geomadr 2
|
||||
simple 0
|
||||
sameframe 1
|
||||
pos 5.6e-17 0 -0.25
|
||||
quat 0.71 0 0.71 0
|
||||
ipos 0 0 0
|
||||
iquat 1 0 0 0
|
||||
mass 0.67
|
||||
subtreemass 0.67
|
||||
inertia 0.00091 0.0014 0.0022
|
||||
invweight0 0.9 2.8e+02
|
||||
|
||||
BODY 4:
|
||||
name
|
||||
parentid 0
|
||||
rootid 4
|
||||
weldid 4
|
||||
mocapid -1
|
||||
jntnum 1
|
||||
jntadr 5
|
||||
dofnum 6
|
||||
dofadr 7
|
||||
geomnum 1
|
||||
geomadr 3
|
||||
simple 1
|
||||
sameframe 1
|
||||
pos 0.5 0 0.1
|
||||
quat 1 0 0 0
|
||||
ipos 0 0 0
|
||||
iquat 1 0 0 0
|
||||
mass 3.1
|
||||
subtreemass 3.1
|
||||
inertia 0.014 0.014 0.0075
|
||||
invweight0 0.32 92
|
||||
|
||||
|
||||
JOINT 0:
|
||||
name
|
||||
type 1
|
||||
qposadr 0
|
||||
dofadr 0
|
||||
bodyid 1
|
||||
group 0
|
||||
limited 0
|
||||
pos 0 0 0.2
|
||||
axis 0 0 1
|
||||
stiffness 0
|
||||
range 0 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
margin 0
|
||||
|
||||
JOINT 1:
|
||||
name
|
||||
type 3
|
||||
qposadr 4
|
||||
dofadr 3
|
||||
bodyid 2
|
||||
group 0
|
||||
limited 0
|
||||
pos -3.3e-17 0 0.15
|
||||
axis 0 1 0
|
||||
stiffness 0
|
||||
range 0 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
margin 0
|
||||
|
||||
JOINT 2:
|
||||
name
|
||||
type 3
|
||||
qposadr 5
|
||||
dofadr 4
|
||||
bodyid 2
|
||||
group 0
|
||||
limited 0
|
||||
pos -3.3e-17 0 0.15
|
||||
axis 2.2e-16 0 -1
|
||||
stiffness 0
|
||||
range 0 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
margin 0
|
||||
|
||||
JOINT 3:
|
||||
name
|
||||
type 3
|
||||
qposadr 6
|
||||
dofadr 5
|
||||
bodyid 3
|
||||
group 0
|
||||
limited 0
|
||||
pos -0.1 0 0
|
||||
axis 0 1 0
|
||||
stiffness 0
|
||||
range 0 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
margin 0
|
||||
|
||||
JOINT 4:
|
||||
name
|
||||
type 3
|
||||
qposadr 7
|
||||
dofadr 6
|
||||
bodyid 3
|
||||
group 0
|
||||
limited 0
|
||||
pos -0.1 0 0
|
||||
axis 0 0 1
|
||||
stiffness 0
|
||||
range 0 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
margin 0
|
||||
|
||||
JOINT 5:
|
||||
name
|
||||
type 0
|
||||
qposadr 8
|
||||
dofadr 7
|
||||
bodyid 4
|
||||
group 0
|
||||
limited 0
|
||||
pos 0 0 0
|
||||
axis 0 0 1
|
||||
stiffness 0
|
||||
range 0 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
margin 0
|
||||
|
||||
|
||||
DOF 0:
|
||||
bodyid 1
|
||||
jntid 0
|
||||
parentid -1
|
||||
Madr 0
|
||||
simplenum 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 7.3
|
||||
M0 0.69
|
||||
|
||||
DOF 1:
|
||||
bodyid 1
|
||||
jntid 0
|
||||
parentid 0
|
||||
Madr 1
|
||||
simplenum 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 7.3
|
||||
M0 0.85
|
||||
|
||||
DOF 2:
|
||||
bodyid 1
|
||||
jntid 0
|
||||
parentid 1
|
||||
Madr 3
|
||||
simplenum 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 7.3
|
||||
M0 0.17
|
||||
|
||||
DOF 3:
|
||||
bodyid 2
|
||||
jntid 1
|
||||
parentid 2
|
||||
Madr 6
|
||||
simplenum 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 17
|
||||
M0 0.16
|
||||
|
||||
DOF 4:
|
||||
bodyid 2
|
||||
jntid 2
|
||||
parentid 3
|
||||
Madr 10
|
||||
simplenum 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 4.4e+02
|
||||
M0 0.0023
|
||||
|
||||
DOF 5:
|
||||
bodyid 3
|
||||
jntid 3
|
||||
parentid 4
|
||||
Madr 15
|
||||
simplenum 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 3.1e+02
|
||||
M0 0.0081
|
||||
|
||||
DOF 6:
|
||||
bodyid 3
|
||||
jntid 4
|
||||
parentid 5
|
||||
Madr 21
|
||||
simplenum 0
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 2.5e+02
|
||||
M0 0.0089
|
||||
|
||||
DOF 7:
|
||||
bodyid 4
|
||||
jntid 5
|
||||
parentid -1
|
||||
Madr 28
|
||||
simplenum 6
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 0.32
|
||||
M0 3.1
|
||||
|
||||
DOF 8:
|
||||
bodyid 4
|
||||
jntid 5
|
||||
parentid 7
|
||||
Madr 29
|
||||
simplenum 5
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 0.32
|
||||
M0 3.1
|
||||
|
||||
DOF 9:
|
||||
bodyid 4
|
||||
jntid 5
|
||||
parentid 8
|
||||
Madr 31
|
||||
simplenum 4
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 0.32
|
||||
M0 3.1
|
||||
|
||||
DOF 10:
|
||||
bodyid 4
|
||||
jntid 5
|
||||
parentid 9
|
||||
Madr 34
|
||||
simplenum 3
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 92
|
||||
M0 0.014
|
||||
|
||||
DOF 11:
|
||||
bodyid 4
|
||||
jntid 5
|
||||
parentid 10
|
||||
Madr 38
|
||||
simplenum 2
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 92
|
||||
M0 0.014
|
||||
|
||||
DOF 12:
|
||||
bodyid 4
|
||||
jntid 5
|
||||
parentid 11
|
||||
Madr 43
|
||||
simplenum 1
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
frictionloss 0
|
||||
armature 0
|
||||
damping 0
|
||||
invweight0 92
|
||||
M0 0.0075
|
||||
|
||||
|
||||
GEOM 0:
|
||||
name
|
||||
type 3
|
||||
contype 1
|
||||
conaffinity 1
|
||||
condim 3
|
||||
bodyid 1
|
||||
dataid -1
|
||||
matid -1
|
||||
group 0
|
||||
priority 0
|
||||
sameframe 1
|
||||
solmix 1
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
size 0.06 0.2 0
|
||||
rbound 0.26
|
||||
pos 0 0 0
|
||||
quat 1 0 0 0
|
||||
friction 1 0.005 0.0001
|
||||
margin 0
|
||||
gap 0
|
||||
rgba 0.8 0.6 0.4 1
|
||||
|
||||
|
||||
GEOM 1:
|
||||
name
|
||||
type 3
|
||||
contype 1
|
||||
conaffinity 1
|
||||
condim 3
|
||||
bodyid 2
|
||||
dataid -1
|
||||
matid -1
|
||||
group 0
|
||||
priority 0
|
||||
sameframe 1
|
||||
solmix 1
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
size 0.04 0.15 0
|
||||
rbound 0.19
|
||||
pos 0 0 0
|
||||
quat 1 0 0 0
|
||||
friction 1 0.005 0.0001
|
||||
margin 0
|
||||
gap 0
|
||||
rgba 0.8 0.6 0.4 1
|
||||
|
||||
|
||||
GEOM 2:
|
||||
name
|
||||
type 4
|
||||
contype 1
|
||||
conaffinity 1
|
||||
condim 3
|
||||
bodyid 3
|
||||
dataid -1
|
||||
matid -1
|
||||
group 0
|
||||
priority 0
|
||||
sameframe 1
|
||||
solmix 1
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
size 0.1 0.08 0.02
|
||||
rbound 0.1
|
||||
pos 0 0 0
|
||||
quat 1 0 0 0
|
||||
friction 1 0.005 0.0001
|
||||
margin 0
|
||||
gap 0
|
||||
rgba 0.8 0.6 0.4 1
|
||||
|
||||
|
||||
GEOM 3:
|
||||
name
|
||||
type 5
|
||||
contype 1
|
||||
conaffinity 1
|
||||
condim 3
|
||||
bodyid 4
|
||||
dataid -1
|
||||
matid -1
|
||||
group 0
|
||||
priority 0
|
||||
sameframe 1
|
||||
solmix 1
|
||||
solref 0.02 1
|
||||
solimp 0.9 0.95 0.001 0.5 2
|
||||
size 0.07 0.1 0
|
||||
rbound 0.12
|
||||
pos 0 0 0
|
||||
quat 1 0 0 0
|
||||
friction 1 0.005 0.0001
|
||||
margin 0
|
||||
gap 0
|
||||
rgba 0.8 0.6 0.4 1
|
||||
|
||||
|
||||
|
||||
SITE 0:
|
||||
name end1
|
||||
type 2
|
||||
bodyid 3
|
||||
matid -1
|
||||
group 0
|
||||
sameframe 0
|
||||
size 0.01 0.005 0.005
|
||||
pos 0.1 0 0
|
||||
quat 1 0 0 0
|
||||
rgba 0.5 0.5 0.5 1
|
||||
|
||||
|
||||
SITE 1:
|
||||
name end2
|
||||
type 2
|
||||
bodyid 4
|
||||
matid -1
|
||||
group 0
|
||||
sameframe 0
|
||||
size 0.01 0.005 0.005
|
||||
pos 0 0 0.1
|
||||
quat 1 0 0 0
|
||||
rgba 0.5 0.5 0.5 1
|
||||
|
||||
|
||||
|
||||
LIGHT 0:
|
||||
name
|
||||
mode 0
|
||||
bodyid 0
|
||||
targetbodyid -1
|
||||
directional 0
|
||||
castshadow 1
|
||||
active 1
|
||||
pos 0 1 1
|
||||
dir 0 -0.71 -0.71
|
||||
poscom0 -0.19 1 0.45
|
||||
pos0 0 1 1
|
||||
dir0 0 -0.71 -0.71
|
||||
attenuation 1 0 0
|
||||
cutoff 45
|
||||
exponent 10
|
||||
ambient 0 0 0
|
||||
diffuse 1 1 1
|
||||
specular 0.3 0.3 0.3
|
||||
|
||||
|
||||
TEXTURE 0:
|
||||
name
|
||||
type 2
|
||||
height 1536
|
||||
width 256
|
||||
adr 0
|
||||
|
||||
|
||||
TENDON 0:
|
||||
name
|
||||
num 2
|
||||
limited 1
|
||||
matid -1
|
||||
group 0
|
||||
width 0.005
|
||||
solreflimit 0.02 1
|
||||
solimplimit 0.9 0.95 0.001 0.5 2
|
||||
solreffrctn 0.02 1
|
||||
solimpfrctn 0.9 0.95 0.001 0.5 2
|
||||
range 0 0.6
|
||||
margin 0
|
||||
stiffness 0
|
||||
damping 0
|
||||
frictionloss 0
|
||||
lengthspring 0.4
|
||||
length0 0.4
|
||||
invweight0 5.9
|
||||
rgba 0.5 0.5 0.5 1
|
||||
|
||||
path
|
||||
3 0 0
|
||||
3 1 0
|
||||
Vendored
+44
@@ -0,0 +1,44 @@
|
||||
<mujoco model="example">
|
||||
<compiler angle="radian" />
|
||||
<size njmax="500" nconmax="100" />
|
||||
<default class="main">
|
||||
<geom size="0" rgba="0.8 0.6 0.4 1" />
|
||||
<site size="0" />
|
||||
</default>
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="1536" />
|
||||
</asset>
|
||||
<worldbody>
|
||||
<light pos="0 1 1" dir="0 -0.707107 -0.707107" diffuse="1 1 1" />
|
||||
<body pos="0 0 0.8">
|
||||
<inertial pos="0 0 0" mass="5.20248" diaginertia="0.0964192 0.0964192 0.00936446" />
|
||||
<joint pos="0 0 0.2" type="ball" />
|
||||
<geom type="capsule" size="0.06 0.2" />
|
||||
<body pos="0.15 0 -0.2" quat="0.707107 0 -0.707107 0">
|
||||
<inertial pos="0 0 0" mass="1.70903" diaginertia="0.0171472 0.0171472 0.00136722" />
|
||||
<joint pos="0 0 0.15" axis="0 1 0" />
|
||||
<joint pos="0 0 0.15" axis="0 0 -1" />
|
||||
<geom type="capsule" size="0.04 0.15" />
|
||||
<body pos="0 0 -0.25" quat="0.707107 0 0.707107 0">
|
||||
<inertial pos="0 0 0" mass="0.670206" diaginertia="0.000911481 0.00139403 0.00219828" />
|
||||
<joint pos="-0.1 0 0" axis="0 1 0" />
|
||||
<joint pos="-0.1 0 0" axis="0 0 1" />
|
||||
<geom type="ellipsoid" size="0.1 0.08 0.02" />
|
||||
<site name="end1" pos="0.1 0 0" size="0.01" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body pos="0.5 0 0.1">
|
||||
<inertial pos="0 0 0" mass="3.07876" diaginertia="0.014034 0.014034 0.00754296" />
|
||||
<joint type="free" />
|
||||
<geom type="cylinder" size="0.07 0.1" />
|
||||
<site name="end2" pos="0 0 0.1" size="0.01" />
|
||||
</body>
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<spatial limited="true" width="0.005" range="0 0.6">
|
||||
<site site="end1" />
|
||||
<site site="end2" />
|
||||
</spatial>
|
||||
</tendon>
|
||||
</mujoco>
|
||||
Vendored
+34
@@ -0,0 +1,34 @@
|
||||
#include "mujoco.h"
|
||||
#include "stdio.h"
|
||||
|
||||
char error[1000];
|
||||
mjModel* m;
|
||||
mjData* d;
|
||||
|
||||
int main(void)
|
||||
{
|
||||
// activate MuJoCo Pro
|
||||
mj_activate("mjkey.txt");
|
||||
|
||||
// load model from file and check for errors
|
||||
m = mj_loadXML("hello.xml", NULL, error, 1000);
|
||||
if( !m )
|
||||
{
|
||||
printf("%s\n", error);
|
||||
return 1;
|
||||
}
|
||||
|
||||
// make data corresponding to model
|
||||
d = mj_makeData(m);
|
||||
|
||||
// run simulation for 10 seconds
|
||||
while( d->time<10 )
|
||||
mj_step(m, d);
|
||||
|
||||
// free model and data, deactivate
|
||||
mj_deleteData(d);
|
||||
mj_deleteModel(m);
|
||||
mj_deactivate();
|
||||
|
||||
return 0;
|
||||
}
|
||||
Vendored
+10
@@ -0,0 +1,10 @@
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
Vendored
+72
@@ -0,0 +1,72 @@
|
||||
<mujoco model="test">
|
||||
<compiler coordinate="global"/>
|
||||
|
||||
<default>
|
||||
<geom rgba=".9 .7 .1 1" size="0.01"/>
|
||||
<site type="sphere" rgba=".9 .9 .9 1" size="0.005"/>
|
||||
<joint type="hinge" axis="0 1 0" limited="true" range="0 60" solimplimit="0.95 0.95 0.1"/>
|
||||
</default>
|
||||
|
||||
<visual>
|
||||
<headlight diffuse=".7 .7 .7"/>
|
||||
</visual>
|
||||
|
||||
<worldbody>
|
||||
<body>
|
||||
<geom type="cylinder" fromto="-0.03 0 0.2 -0.03 0 0.15"
|
||||
size="0.03" rgba=".2 .2 .5 1" density="5000"/>
|
||||
<joint type="slide" pos="-0.03 0 0.2" axis="0 0 1" limited="false"/>
|
||||
<site name="s1" pos="-0.03 0 0.2"/>
|
||||
</body>
|
||||
|
||||
<site name="s2" pos="-0.03 0 0.32"/>
|
||||
|
||||
<body>
|
||||
<geom type="capsule" fromto="0 0 0.3 0.1 0 0.3"/>
|
||||
<geom name="g1" type="cylinder" fromto="0.0 0.015 0.3 0.0 -0.015 0.3"
|
||||
size="0.02" rgba=".3 .9 .3 .4"/>
|
||||
<joint pos="0 0 0.3"/>
|
||||
<site name="s3" pos="0.02 0 0.32"/>
|
||||
|
||||
<body>
|
||||
<geom type="capsule" fromto="0.1 0 0.3 0.2 0 0.3"/>
|
||||
<geom name="g2" type="cylinder" fromto="0.1 0.015 0.3 0.1 -0.015 0.3"
|
||||
size="0.02" rgba=".3 .9 .3 .4"/>
|
||||
<joint pos="0.1 0 0.3"/>
|
||||
<site name="s4" pos="0.13 0 0.31"/>
|
||||
<site name="s5" pos="0.15 0 0.32"/>
|
||||
<site name="side2" pos="0.1 0 0.33"/>
|
||||
|
||||
<body>
|
||||
<geom type="capsule" fromto="0.2 0 0.3 0.27 0 0.3"/>
|
||||
<geom name="g3" type="cylinder" fromto="0.2 0.015 0.3 0.2 -0.015 0.3"
|
||||
size="0.02" rgba=".3 .9 .3 .4"/>
|
||||
<joint pos="0.2 0 0.3"/>
|
||||
<site name="s6" pos="0.23 0 0.31"/>
|
||||
<site name="side3" pos="0.2 0 0.33"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<tendon>
|
||||
<spatial width="0.002" rgba=".95 .3 .3 1" limited="true" range="0 0.33">
|
||||
<site site="s1"/>
|
||||
<site site="s2"/>
|
||||
<geom geom="g1"/>
|
||||
<site site="s3"/>
|
||||
|
||||
<pulley divisor="2"/>
|
||||
<site site="s3"/>
|
||||
<geom geom="g2" sidesite="side2"/>
|
||||
<site site="s4"/>
|
||||
|
||||
<pulley divisor="2"/>
|
||||
<site site="s3"/>
|
||||
<geom geom="g2" sidesite="side2"/>
|
||||
<site site="s5"/>
|
||||
<geom geom="g3" sidesite="side3"/>
|
||||
<site site="s6"/>
|
||||
</spatial>
|
||||
</tendon>
|
||||
</mujoco>
|
||||
Reference in New Issue
Block a user