Taylor Howell
9d73211757
PiperOrigin-RevId: 675130978 Change-Id: I8a3b925c57f317aebc0c345578cebeb4210dc11d
75 lines
2.2 KiB
XML
75 lines
2.2 KiB
XML
<mujoco model="model">
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<asset>
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<material name="material"/>
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</asset>
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<worldbody>
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<!-- tree 0 -->
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<body name="body0" pos="1 2 3">
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<joint name="hinge0" type="hinge" axis="1 0 0"/>
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<geom size="0.1" material="material"/>
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<site name="site_rangefinder0" pos="-1e-3 0 0.2"/>
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<site name="site_rangefinder1" pos="-1e-3 0 0.175"/>
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<site name="site0" pos=".1 .2 .3"/>
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<body name="body1" pos="0.1 0.2 0.3">
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<joint name="hinge1" type="hinge" axis="0 1 0"/>
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<geom size="0.25"/>
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<site name="site1" pos=".2 .4 .6"/>
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</body>
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</body>
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<!-- body 2 -->
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<body name="body2" pos=".1 .1 .1">
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<joint name="ballquat2" type="ball" pos="0.1 0.1 0.1"/>
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<geom name="geom2" size="1"/>
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</body>
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<!-- body 3 -->
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<body name="body3" pos="-.1 -.1 -.1">
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<joint name="ballquat3" type="ball" pos="0.1 0.2 0.3"/>
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<geom size="1"/>
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<site name="site3"/>
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</body>
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<!-- bodies for camera projection -->
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<body pos="11.1 0 1">
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<geom type="box" size=".1 .6 .375"/>
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<site name="frontorigin" pos="-.1 .6 .375"/>
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<site name="frontcenter" pos="-.1 0 0"/>
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</body>
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<body pos="10 0 0">
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<joint axis="0 0 1" range="-180 180" limited="false"/>
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<geom type="sphere" size=".2" pos="0 0 0.9"/>
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<camera pos="0 0 1" xyaxes="0 -1 0 0 0 1" fovy="41.11209"
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resolution="1920 1200" name="fixedcamera"/>
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</body>
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<!-- body for rangefinder -->
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<body name="body_rangefinder" pos="1 2 4">
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<geom size="0.01" material="material"/>
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</body>
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<!-- bodies for force + torque sensors -->
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<body>
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<joint type="hinge" axis="1 0 0"/>
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<joint type="hinge" axis="0 1 0"/>
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<joint type="hinge" axis="0 0 1"/>
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<site name="site_force"/>
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<geom size="0.1"/>
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</body>
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<body>
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<joint type="slide" axis="1 0 0"/>
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<joint type="slide" axis="0 1 0"/>
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<joint type="slide" axis="0 0 1"/>
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<site name="site_torque"/>
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<geom size="0.1"/>
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</body>
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</worldbody>
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<actuator>
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<motor name="motor0" joint="hinge0" ctrlrange="-1 1" gear="10"
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ctrllimited="true"/>
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<motor name="motor1" joint="hinge1" ctrlrange="-1 1" gear="10"
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ctrllimited="true"/>
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</actuator>
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</mujoco>
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