Yuval Tassa
19d505d847
PiperOrigin-RevId: 648497401 Change-Id: I9f9a843abfb710afaf25798fa659efd92bcd7007
95 lines
3.5 KiB
XML
95 lines
3.5 KiB
XML
<mujoco>
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<visual>
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<global elevation="-10"/>
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</visual>
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<compiler angle="radian"/>
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<!-- Note: actuator groups 1, 2, are disabled by default -->
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<option actuatorgroupdisable="1 2" cone="elliptic"/>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
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<texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
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<material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
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<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
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<material name="grid" texture="grid" texrepeat="6 2" texuniform="false" reflectance=".2"/>
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</asset>
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<default>
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<general ctrlrange="-1 1"/>
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<geom friction=".4"/>
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<default class="decor">
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<geom type="cylinder" size=".03" fromto="0 -.03 0 0 .03 0" rgba="1 1 1 1"/>
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</default>
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<default class="arm">
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<joint damping="5" axis="0 -1 0"/>
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<geom type="capsule" size=".02" material="body"/>
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</default>
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<default class="object">
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<geom type="cylinder" size="0.1" rgba="0 .9 0 1" fromto="0 -.03 0 0 .03 0"
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solref="-10000 -10" priority="1"/>
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<joint group="3"/>
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</default>
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<!-- Note: motors, position, intvelocity actuators are in groups 0, 1, 2, respectively -->
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<default class="motor">
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<motor group="0" gear="30" ctrlrange="-1 1"/>
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</default>
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<default class="position">
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<position group="1" kp="60"/>
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</default>
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<default class="intvelocity">
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<intvelocity group="2" kp="60" ctrlrange="-.5 .5"/>
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</default>
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</default>
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<worldbody>
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<geom name="floor" type="plane" size=".6 .2 0.01" material="grid"/>
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<geom name="wall0" type="plane" size=".4 .2 0.01" material="grid" pos="-.6 0 .4" zaxis="1 0 0"/>
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<geom name="wall1" type="plane" size=".4 .2 0.01" material="grid" pos=".6 0 .4" zaxis="-1 0 0"/>
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<light pos="-.6 0 3" mode="targetbody" target="hand"/>
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<light pos=".6 0 3" mode="targetbody" target="hand"/>
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<body name="arm" pos="-.6 0 .6" childclass="arm">
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<joint name="arm" range="-1.5 1.5"/>
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<geom class="decor"/>
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<geom name="arm" fromto="0 0 0 .7 0 0"/>
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<body pos=".7 0 0">
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<joint name="hand" range="-4.65 1.5"/>
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<geom class="decor"/>
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<geom fromto="0 0 0 0 0 0.4"/>
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<body name="hand" pos="0 0 0.4">
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<geom name="hand" type="sphere" size=".06" mass="0"/>
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</body>
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</body>
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</body>
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<body childclass="object" pos="-.3 0 .2">
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<joint axis="1 0 0" type="slide"/>
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<joint axis="0 0 1" type="slide"/>
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<joint axis="0 1 0"/>
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<geom/>
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</body>
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<body childclass="object" pos="-.2 0 .4">
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<joint axis="1 0 0" type="slide"/>
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<joint axis="0 0 1" type="slide"/>
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<joint axis="0 1 0"/>
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<geom/>
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</body>
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</worldbody>
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<contact>
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<exclude body1="world" body2="arm"/>
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<pair geom1="arm" geom2="hand"/>
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</contact>
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<actuator>
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<motor class="motor" name="arm torque" joint="arm"/>
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<motor class="motor" name="hand torque" joint="hand"/>
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<position class="position" name="arm position" joint="arm" ctrlrange="-1.5 1.5"/>
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<position class="position" name="hand position" joint="hand" ctrlrange="-1.5 4.65"/>
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<intvelocity class="intvelocity" name="arm velocity" joint="arm" actrange="-1.5 1.5"/>
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<intvelocity class="intvelocity" name="hand velocity" joint="hand" actrange="-1.5 4.65"/>
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</actuator>
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</mujoco>
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