48 lines
1.9 KiB
XML
48 lines
1.9 KiB
XML
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<mujoco model="two-link planar reacher">
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<include file="./common/skybox.xml"/>
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<include file="./common/visual.xml"/>
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<include file="./common/materials.xml"/>
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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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<joint type="hinge" axis="0 0 1" damping="0.01"/>
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<motor gear=".05" ctrlrange="-1 1" ctrllimited="true"/>
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</default>
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<worldbody>
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<light name="light" pos="0 0 1"/>
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<camera name="fixed" pos="0 0 .75" quat="1 0 0 0"/>
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<!-- Arena -->
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<geom name="ground" type="plane" pos="0 0 0" size=".3 .3 10" material="grid"/>
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<geom name="wall_x" type="plane" pos="-.3 0 .02" zaxis="1 0 0" size=".02 .3 .02" material="decoration"/>
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<geom name="wall_y" type="plane" pos="0 -.3 .02" zaxis="0 1 0" size=".3 .02 .02" material="decoration"/>
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<geom name="wall_neg_x" type="plane" pos=".3 0 .02" zaxis="-1 0 0" size=".02 .3 .02" material="decoration"/>
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<geom name="wall_neg_y" type="plane" pos="0 .3 .02" zaxis="0 -1 0" size=".3 .02 .02" material="decoration"/>
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<!-- Arm -->
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<geom name="root" type="cylinder" fromto="0 0 0 0 0 0.02" size=".011" material="decoration"/>
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<body name="arm" pos="0 0 .01">
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<geom name="arm" type="capsule" fromto="0 0 0 0.12 0 0" size=".01" material="self"/>
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<joint name="shoulder"/>
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<body name="hand" pos=".12 0 0">
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<geom name="hand" type="capsule" fromto="0 0 0 0.1 0 0" size=".01" material="self"/>
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<joint name="wrist" limited="true" range="-160 160"/>
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<body name="finger" pos=".12 0 0">
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<camera name="hand" pos="0 0 .2" mode="track"/>
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<geom name="finger" type="sphere" size=".01" material="effector"/>
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</body>
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</body>
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</body>
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<!-- Target -->
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<geom name="target" pos="0 0 .01" material="target" type="sphere" size=".05"/>
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</worldbody>
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<actuator>
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<motor name="shoulder" joint="shoulder"/>
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<motor name="wrist" joint="wrist"/>
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</actuator>
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</mujoco>
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