Nimrod Gileadi
a693a2d981
This is an amendment to 4bfc2c0311.
Add an autolimits compiler option. When true, *limited will be inferred from the presence of the *range attributes.
When false, models where limited is not specified, and range is will fail to compile.
PiperOrigin-RevId: 472438650
Change-Id: I489098e879ee695030f44e0d8cd969787e75fb90
63 lines
2.5 KiB
XML
63 lines
2.5 KiB
XML
<mujoco>
|
|
<compiler autolimits="true"/>
|
|
<!--
|
|
Adding a high fluid viscosity and using implicit integration for extra stabillity.
|
|
Extra stabillity is required because the abstract "arm" model is not very realistic.
|
|
(e.g. 4 consecutive ball joints is not a realistic kinematic design)
|
|
-->
|
|
<option viscosity="10" integrator="implicit">
|
|
<flag gravity="disable" contact="disable"/>
|
|
</option>
|
|
|
|
<statistic meansize=".05"/>
|
|
|
|
<default>
|
|
<default class="translation">
|
|
<position kp="100" ctrlrange="-.25 .25"/>
|
|
</default>
|
|
<default class="rotation">
|
|
<!--
|
|
Note that the rotational control range is purposefully limited to (-pi/2, pi/2) to avoid the
|
|
documented instabillity near pi, which is due to taking quaternion differences.
|
|
Increase this range to pi or bigger in order to see the instabillity.
|
|
See here for more details https://mujoco.readthedocs.io/en/latest/XMLreference.html#actuator
|
|
-->
|
|
<position kp=".2" ctrlrange="-1.571 1.571"/>
|
|
</default>
|
|
<joint damping=".01" stiffness=".0001"/>
|
|
<site type="box" size=".012 .012 .012" rgba=".7 .7 .8 1"/>
|
|
</default>
|
|
|
|
<worldbody>
|
|
<light pos="0 0 2"/>
|
|
<geom type="box" size=".25 .25 .01" pos="0 0 -.01"/>
|
|
<site name="reference" pos="0 0 .25"/>
|
|
<body name="arm" pos="-.25 .25 0">
|
|
<joint type="ball"/>
|
|
<geom type="box" size=".01" fromto="0 0 0 0 0 .25"/>
|
|
<body pos="0 0 .25">
|
|
<joint type="ball"/>
|
|
<geom type="box" size=".01" fromto="0 0 0 .25 0 0"/>
|
|
<body pos=".25 0 0">
|
|
<joint type="ball"/>
|
|
<geom type="box" size=".01" fromto="0 0 0 0 -.2 0"/>
|
|
<body pos="0 -.2 0">
|
|
<joint type="ball"/>
|
|
<geom type="box" size=".01" fromto="0 0 0 0 -.05 0"/>
|
|
<site name="end_effector" pos="0 -.05 0"/>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</body>
|
|
</worldbody>
|
|
|
|
<actuator>
|
|
<position name="x" site="end_effector" refsite="reference" gear="1 0 0 0 0 0" class="translation"/>
|
|
<position name="y" site="end_effector" refsite="reference" gear="0 1 0 0 0 0" class="translation"/>
|
|
<position name="z" site="end_effector" refsite="reference" gear="0 0 1 0 0 0" class="translation"/>
|
|
<position name="rx" site="end_effector" refsite="reference" gear="0 0 0 1 0 0" class="rotation"/>
|
|
<position name="ry" site="end_effector" refsite="reference" gear="0 0 0 0 1 0" class="rotation"/>
|
|
<position name="rz" site="end_effector" refsite="reference" gear="0 0 0 0 0 1" class="rotation"/>
|
|
</actuator>
|
|
</mujoco>
|