55 lines
1.8 KiB
XML
55 lines
1.8 KiB
XML
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<mujoco model="ball in cup">
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<include file="./common/visual.xml"/>
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<include file="./common/skybox.xml"/>
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<include file="./common/materials.xml"/>
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<default>
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<motor ctrllimited="true" ctrlrange="-1 1" gear="5"/>
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<default class="cup">
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<joint type="slide" damping="3" stiffness="20"/>
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<geom type="capsule" size=".008" material="self"/>
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</default>
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</default>
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<worldbody>
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<light name="light" directional="true" diffuse=".6 .6 .6" pos="0 0 2" specular=".3 .3 .3"/>
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<geom name="ground" type="plane" pos="0 0 0" size=".6 .2 10" material="grid"/>
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<camera name="cam0" pos="0 -1 .8" xyaxes="1 0 0 0 1 2"/>
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<camera name="cam1" pos="0 -1 .4" xyaxes="1 0 0 0 0 1" />
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<body name="cup" pos="0 0 .6" childclass="cup">
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<joint name="cup_x" axis="1 0 0"/>
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<joint name="cup_z" axis="0 0 1"/>
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<geom name="cup_part_0" fromto="-.05 0 0 -.05 0 -.075" />
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<geom name="cup_part_1" fromto="-.05 0 -.075 -.025 0 -.1" />
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<geom name="cup_part_2" fromto="-.025 0 -.1 .025 0 -.1" />
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<geom name="cup_part_3" fromto=".025 0 -.1 .05 0 -.075" />
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<geom name="cup_part_4" fromto=".05 0 -.075 .05 0 0" />
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<site name="cup" pos="0 0 -.108" size=".005"/>
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<site name="target" type="box" pos="0 0 -.05" size=".05 .006 .05" group="4"/>
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</body>
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<body name="ball" pos="0 0 .2">
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<joint name="ball_x" type="slide" axis="1 0 0"/>
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<joint name="ball_z" type="slide" axis="0 0 1"/>
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<geom name="ball" type="sphere" size=".025" material="effector"/>
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<site name="ball" size=".005"/>
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</body>
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</worldbody>
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<actuator>
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<motor name="x" joint="cup_x"/>
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<motor name="z" joint="cup_z"/>
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</actuator>
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<tendon>
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<spatial name="string" limited="true" range="0 0.3" width="0.003">
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<site site="ball"/>
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<site site="cup"/>
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</spatial>
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</tendon>
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</mujoco>
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