73 lines
3.2 KiB
XML
73 lines
3.2 KiB
XML
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<mujoco model="finger">
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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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<option timestep="0.01" cone="elliptic" iterations="200">
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<flag gravity="disable"/>
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</option>
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<default>
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<geom solimp="0 0.9 0.01" solref=".02 1"/>
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<joint type="hinge" axis="0 -1 0"/>
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<motor ctrllimited="true" ctrlrange="-1 1"/>
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<default class="finger">
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<joint damping="2.5" limited="true"/>
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<site type="ellipsoid" size=".025 .03 .025" material="site" group="3"/>
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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="proximal" pos="-.2 0 .4" childclass="finger">
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<geom name="proximal_decoration" type="cylinder" fromto="0 -.033 0 0 .033 0" size=".034" material="decoration"/>
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<joint name="proximal" range="-110 110" ref="-90"/>
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<geom name="proximal" type="capsule" material="self" size=".03" fromto="0 0 0 0 0 -.17"/>
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<body name="distal" pos="0 0 -.18" childclass="finger">
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<joint name="distal" range="-110 110"/>
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<geom name="distal" type="capsule" size=".028" material="self" fromto="0 0 0 0 0 -.16" contype="0" conaffinity="0"/>
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<geom name="fingertip" type="capsule" size=".03" material="effector" fromto="0 0 -.13 0 0 -.161"/>
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<site name="touchtop" pos=".01 0 -.17"/>
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<site name="touchbottom" pos="-.01 0 -.17"/>
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</body>
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</body>
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<body name="spinner" pos=".2 0 .4">
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<joint name="hinge" frictionloss=".1" damping=".5"/>
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<geom name="cap1" type="capsule" size=".04 .09" material="self" pos=".02 0 0"/>
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<geom name="cap2" type="capsule" size=".04 .09" material="self" pos="-.02 0 0"/>
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<site name="tip" type="sphere" size=".02" pos="0 0 .13" material="target"/>
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<geom name="spinner_decoration" type="cylinder" fromto="0 -.045 0 0 .045 0" size=".02" material="decoration"/>
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</body>
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<site name="target" type="sphere" size=".03" pos="0 0 .4" material="target"/>
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</worldbody>
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<actuator>
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<motor name="proximal" joint="proximal" gear="30"/>
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<motor name="distal" joint="distal" gear="15"/>
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</actuator>
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<!-- All finger observations are functions of sensors. This is useful for finite-differencing. -->
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<sensor>
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<jointpos name="proximal" joint="proximal"/>
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<jointpos name="distal" joint="distal"/>
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<jointvel name="proximal_velocity" joint="proximal"/>
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<jointvel name="distal_velocity" joint="distal"/>
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<jointvel name="hinge_velocity" joint="hinge"/>
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<framepos name="tip" objtype="site" objname="tip"/>
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<framepos name="target" objtype="site" objname="target"/>
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<framepos name="spinner" objtype="xbody" objname="spinner"/>
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<touch name="touchtop" site="touchtop"/>
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<touch name="touchbottom" site="touchbottom"/>
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<framepos name="touchtop_pos" objtype="site" objname="touchtop"/>
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<framepos name="touchbottom_pos" objtype="site" objname="touchbottom"/>
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</sensor>
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</mujoco>
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