Saran Tunyasuvunakool
ee39340ae7
PiperOrigin-RevId: 416854656 Change-Id: I554d2c5667282567a129d79d91d8f2e97146d6f5
121 lines
4.0 KiB
XML
121 lines
4.0 KiB
XML
<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="2-link 6-muscle arm">
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<option timestep="0.005" iterations="50" solver="Newton" tolerance="1e-10"/>
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<size njmax="50" nconmax="10" nstack="200"/>
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<visual>
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<rgba haze=".3 .3 .3 1"/>
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</visual>
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<default>
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<joint type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="0 120" damping="0.1"/>
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<muscle ctrllimited="true" ctrlrange="0 1"/>
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</default>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.6 0.6 0.6" rgb2="0 0 0" width="512" height="512"/>
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<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"/>
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<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
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</asset>
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<worldbody>
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<geom name="floor" pos="0 0 -0.5" size="0 0 1" type="plane" material="matplane"/>
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<light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1"/>
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<site name="s0" pos="-0.15 0 0" size="0.02"/>
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<site name="x0" pos="0 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
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<body pos="0 0 0">
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<geom name="upper arm" type="capsule" size="0.045" fromto="0 0 0 0.5 0 0" rgba=".5 .1 .1 1"/>
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<joint name="shoulder"/>
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<geom name="shoulder" type="cylinder" pos="0 0 0" size=".1 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
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<site name="s1" pos="0.15 0.06 0" size="0.02"/>
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<site name="s2" pos="0.15 -0.06 0" size="0.02"/>
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<site name="s3" pos="0.4 0.06 0" size="0.02"/>
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<site name="s4" pos="0.4 -0.06 0" size="0.02"/>
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<site name="s5" pos="0.25 0.1 0" size="0.02"/>
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<site name="s6" pos="0.25 -0.1 0" size="0.02"/>
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<site name="x1" pos="0.5 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
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<body pos="0.5 0 0">
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<geom name="forearm" type="capsule" size="0.035" fromto="0 0 0 0.5 0 0" rgba=".5 .1 .1 1"/>
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<joint name="elbow"/>
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<geom name="elbow" type="cylinder" pos="0 0 0" size=".08 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
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<site name="s7" pos="0.11 0.05 0" size="0.02"/>
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<site name="s8" pos="0.11 -0.05 0" size="0.02"/>
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</body>
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</body>
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</worldbody>
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<tendon>
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<spatial name="SF" width="0.01">
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<site site="s0"/>
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<geom geom="shoulder"/>
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<site site="s1"/>
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</spatial>
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<spatial name="SE" width="0.01">
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<site site="s0"/>
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<geom geom="shoulder" sidesite="x0"/>
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<site site="s2"/>
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</spatial>
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<spatial name="EF" width="0.01">
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<site site="s3"/>
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<geom geom="elbow"/>
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<site site="s7"/>
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</spatial>
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<spatial name="EE" width="0.01">
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<site site="s4"/>
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<geom geom="elbow" sidesite="x1"/>
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<site site="s8"/>
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</spatial>
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<spatial name="BF" width="0.009" rgba=".4 .6 .4 1">
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<site site="s0"/>
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<geom geom="shoulder"/>
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<site site="s5"/>
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<geom geom="elbow"/>
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<site site="s7"/>
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</spatial>
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<spatial name="BE" width="0.009" rgba=".4 .6 .4 1">
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<site site="s0"/>
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<geom geom="shoulder" sidesite="x0"/>
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<site site="s6"/>
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<geom geom="elbow" sidesite="x1"/>
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<site site="s8"/>
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</spatial>
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</tendon>
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<actuator>
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<muscle name="SF" tendon="SF"/>
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<muscle name="SE" tendon="SE"/>
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<muscle name="EF" tendon="EF"/>
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<muscle name="EE" tendon="EE"/>
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<muscle name="BF" tendon="BF"/>
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<muscle name="BE" tendon="BE"/>
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</actuator>
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</mujoco>
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