Version 2.1: documentation, public API headers, and sample programs.

PiperOrigin-RevId: 403900419
2021-10-18 12:23:02 +01:00
commit 1f7eaae62e
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+<!-- Copyright 2021 DeepMind Technologies Limited
+
+     Licensed under the Apache License, Version 2.0 (the "License");
+     you may not use this file except in compliance with the License.
+     You may obtain a copy of the License at
+
+         http://www.apache.org/licenses/LICENSE-2.0
+
+     Unless required by applicable law or agreed to in writing, software
+     distributed under the License is distributed on an "AS IS" BASIS,
+     WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+     See the License for the specific language governing permissions and
+     limitations under the License.
+-->
+
+<mujoco model="2-link 6-muscle arm">
+
+    <option timestep="0.005" iterations="50" solver="Newton" tolerance="1e-10"/>
+
+    <size njmax="50" nconmax="10" nstack="200"/>
+
+    <visual>
+        <rgba haze=".3 .3 .3 1"/>
+    </visual>
+
+    <default>
+        <joint type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="0 120" damping="0.1"/>
+        <muscle ctrllimited="true" ctrlrange="0 1"/>
+    </default>
+
+    <asset>
+        <texture type="skybox" builtin="gradient" rgb1="0.6 0.6 0.6" rgb2="0 0 0" width="512" height="512"/>
+
+        <texture name="texplane" type="2d" builtin="checker" rgb1=".25 .25 .25" rgb2=".3 .3 .3" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
+
+        <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
+    </asset>
+
+    <worldbody>
+        <geom name="floor" pos="0 0 -0.5" size="0 0 1" type="plane" material="matplane"/>
+
+        <light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1"/>
+
+        <site name="s0" pos="-0.15 0 0" size="0.02"/>
+        <site name="x0" pos="0 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
+
+        <body pos="0 0 0">
+            <geom name="upper arm" type="capsule" size="0.045" fromto="0 0 0  0.5 0 0" rgba=".5 .1 .1 1"/>
+            <joint name="shoulder"/>
+            <geom name="shoulder" type="cylinder" pos="0 0 0" size=".1 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
+
+            <site name="s1" pos="0.15 0.06 0" size="0.02"/>
+            <site name="s2" pos="0.15 -0.06 0" size="0.02"/>
+            <site name="s3" pos="0.4 0.06 0" size="0.02"/>
+            <site name="s4" pos="0.4 -0.06 0" size="0.02"/>
+            <site name="s5" pos="0.25 0.1 0" size="0.02"/>
+            <site name="s6" pos="0.25 -0.1 0" size="0.02"/>
+            <site name="x1" pos="0.5 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
+
+            <body pos="0.5 0 0">
+                <geom name="forearm" type="capsule" size="0.035" fromto="0 0 0  0.5 0 0" rgba=".5 .1 .1 1"/>
+                <joint name="elbow"/>
+                <geom name="elbow" type="cylinder" pos="0 0 0" size=".08 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
+
+                <site name="s7" pos="0.11 0.05 0" size="0.02"/>
+                <site name="s8" pos="0.11 -0.05 0" size="0.02"/>
+            </body>
+        </body>
+    </worldbody>
+
+    <tendon>
+        <spatial name="SF" width="0.01">
+            <site site="s0"/>
+            <geom geom="shoulder"/>
+            <site site="s1"/>
+        </spatial>
+
+        <spatial name="SE" width="0.01">
+            <site site="s0"/>
+            <geom geom="shoulder" sidesite="x0"/>
+            <site site="s2"/>
+        </spatial>
+
+        <spatial name="EF" width="0.01">
+            <site site="s3"/>
+            <geom geom="elbow"/>
+            <site site="s7"/>
+        </spatial>
+
+        <spatial name="EE" width="0.01">
+            <site site="s4"/>
+            <geom geom="elbow" sidesite="x1"/>
+            <site site="s8"/>
+        </spatial>
+
+        <spatial name="BF" width="0.009" rgba=".4 .6 .4 1">
+            <site site="s0"/>
+            <geom geom="shoulder"/>
+            <site site="s5"/>
+            <geom geom="elbow"/>
+            <site site="s7"/>
+        </spatial>
+
+        <spatial name="BE" width="0.009" rgba=".4 .6 .4 1">
+            <site site="s0"/>
+            <geom geom="shoulder" sidesite="x0"/>
+            <site site="s6"/>
+            <geom geom="elbow" sidesite="x1"/>
+            <site site="s8"/>
+        </spatial>
+    </tendon>
+
+    <actuator>
+        <muscle name="SF" tendon="SF"/>
+        <muscle name="SE" tendon="SE"/>
+        <muscle name="EF" tendon="EF"/>
+        <muscle name="EE" tendon="EE"/>
+        <muscle name="BF" tendon="BF"/>
+        <muscle name="BE" tendon="BE"/>
+    </actuator>
+</mujoco>