Baruch Tabanpour
e9709900b4
PiperOrigin-RevId: 627791303 Change-Id: I87c9254967eb492d0c38153ff41d7458ffb69136
140 lines
4.4 KiB
XML
140 lines
4.4 KiB
XML
<!-- For validating dynamics of joints:
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* free, ball, slide, hinge joints
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* stacked joints (e.g. hinge + slide, ball + slide, etc)
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* n-link kinematic chains
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* limits, armature, damping
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-->
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<mujoco model="pendula">
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<compiler autolimits="true"/>
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<option timestep="0.02">
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<flag contact="disable" />
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</option>
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<default>
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<geom type="box" pos=".1 .2 .3" size=".1 .2 .3"/>
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<joint damping="0.25" stiffness="0.1"/>
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</default>
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<worldbody>
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<site name="origin"/>
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<camera pos="0 1.5 0.8" xyaxes="-1 0 0 0 -0.2 .8"/>
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<camera mode="targetbodycom" pos="1 -1 2"/>
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<camera mode="targetbodycom" target="body" pos="0 -1 2"/>
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<camera mode="targetbody" target="body" pos="0 -1 -2"/>
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<!-- a single free body -->
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<body pos="0 0 0">
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<camera mode="fixed" pos="0 0.1 0.1" euler="2.7 0 0"/>
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<camera pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
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<camera pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="track"/>
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<freejoint/>
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<geom/>
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</body>
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<!-- a single ball joint with a limit -->
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<body name="body" pos="0.5 0 0">
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<joint name="joint1" type="ball" range="0 35"/>
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<site name="s1" pos="1.3 0 0"/>
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<geom/>
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</body>
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<!-- a single slide joint with a limit -->
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<body pos="1.0 0 0">
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<joint name="joint2" type="slide" axis="0.1 0.2 0.3" range="-1 1"/>
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<site name="s2"/>
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<geom/>
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</body>
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<!-- a single hinge joint with a limit -->
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<body pos="1.5 0 0">
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<joint name="joint3" type="hinge" axis="0.1 0.2 0.3" range="-35 50"/>
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<site name="s3" quat="1 0 1 0"/>
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<geom/>
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</body>
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<!-- stacked joint: hinge + slide -->
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<body pos="2.0 0 0">
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<joint name="joint4" type="hinge" axis="0.1 0.2 0.3"/>
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<joint name="joint5" type="slide" axis="0.4 0.5 0.6" range="0 1"/>
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<geom/>
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</body>
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<!-- stacked joint: slide + ball -->
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<body pos="2.5 0 0">
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<joint name="joint6" type="slide" axis="0.4 0.5 0.6" range="0 1"/>
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<joint type="ball"/>
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<geom/>
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</body>
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<!-- triple pendulum of hinges -->
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<body pos="3.0 0 0">
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<joint name="joint7" axis="0.1 0.2 0.3" type="hinge"/>
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<geom/>
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<body pos="0 0 -0.8">
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<joint name="joint8" axis="0.4 0.5 0.6" type="hinge" armature="0.02" range="-20 20"/>
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<geom/>
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<body pos="0 -0.7 0">
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<joint name="joint9" axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30"/>
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<site name="s4" pos="0 1.5 0" quat="1 0 1 0"/>
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<geom/>
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</body>
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</body>
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</body>
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<!-- cherry pendulum: two bodies attached to same parent body -->
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<body pos="3.5 0 0">
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<joint name="joint10" type="ball" damping="0.5" />
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<geom/>
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<body pos="0 0 -0.8">
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<joint name="joint11" axis="0.4 0.5 0.6" type="hinge" armature="0.02" range="-20 20"/>
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<geom/>
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</body>
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<body pos="0 -0.7 0">
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<joint name="joint12" axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30"/>
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<geom/>
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</body>
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</body>
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<!-- falling pendulum -->
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<body pos="4.0 0 0">
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<freejoint/>
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<geom/>
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<body pos="0 0 -0.8">
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<joint name="joint13" axis="0.4 0.5 0.6" type="slide" armature="0.02" range="-0.4 0.6"/>
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<geom/>
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<body pos="0 -0.7 0">
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<joint name="joint14" axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30"/>
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<geom/>
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</body>
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</body>
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</body>
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<!-- triple pendulum of hinges with gravcomp -->
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<body pos="3.0 0 0" gravcomp="1">
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<joint name="joint15" axis="0.1 0.2 0.3" type="hinge"/>
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<geom/>
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<body pos="0 0 -0.8" gravcomp="2">
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<joint name="joint16" axis="0.4 0.5 0.6" type="hinge" armature="0.02" range="-20 20"/>
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<geom/>
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<body pos="0 -0.7 0" gravcomp="3">
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<joint name="joint17" axis="0.7 0.8 0.9" type="hinge" damping="0.75" range="-30 30" actuatorgravcomp="true"/>
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<geom/>
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</body>
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</body>
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</body>
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</worldbody>
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<actuator>
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<motor gear="250 0 0" joint="joint1" name="act1"/>
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<motor gear="0 275 0" joint="joint1" name="act2"/>
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<motor gear="0 0 300" joint="joint1" name="act3"/>
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<motor gear="275" joint="joint2" name="act4"/>
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<motor gear="275" joint="joint3" name="act5"/>
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<motor gear="150" joint="joint15" name="act6"/>
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<motor gear="150" joint="joint16" name="act7"/>
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<motor gear="150" joint="joint17" name="act8"/>
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</actuator>
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</mujoco>
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