Spaces:
Running
Running
| <mujoco model="arm3d"> | |
| <compiler inertiafromgeom="true" angle="radian" coordinate="local"/> | |
| <option timestep="0.01" gravity="0 0 0" iterations="20" integrator="Euler" /> | |
| <default> | |
| <joint armature='0.04' damping="1" limited="true"/> | |
| <geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/> | |
| </default> | |
| <worldbody> | |
| <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/> | |
| <geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/> | |
| <body name="r_shoulder_pan_link" pos="0 -0.6 0"> | |
| <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" /> | |
| <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" /> | |
| <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" /> | |
| <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" /> | |
| <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" /> | |
| <joint name="r_shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="1.0" /> | |
| <body name="r_shoulder_lift_link" pos="0.1 0 0"> | |
| <geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" /> | |
| <joint name="r_shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="1.0" /> | |
| <body name="r_upper_arm_roll_link" pos="0 0 0"> | |
| <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" /> | |
| <joint name="r_upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0.1" /> | |
| <body name="r_upper_arm_link" pos="0 0 0"> | |
| <geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" /> | |
| <body name="r_elbow_flex_link" pos="0.4 0 0"> | |
| <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" /> | |
| <joint name="r_elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0.1" /> | |
| <body name="r_forearm_roll_link" pos="0 0 0"> | |
| <geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" /> | |
| <joint name="r_forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping=".1" range="-1.5 1.5"/> | |
| <body name="r_forearm_link" pos="0 0 0"> | |
| <geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" /> | |
| <body name="r_wrist_flex_link" pos="0.321 0 0"> | |
| <geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" /> | |
| <joint name="r_wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping=".1" /> | |
| <body name="r_wrist_roll_link" pos="0 0 0"> | |
| <joint name="r_wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0.1" range="-1.5 1.5"/> | |
| <body name="tips_arm" pos="0 0 0"> | |
| <geom name="tip_arml" type="sphere" pos="0.1 -0.1 0." size="0.01" /> | |
| <geom name="tip_armr" type="sphere" pos="0.1 0.1 0." size="0.01" /> | |
| </body> | |
| <geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" contype="1" conaffinity="1" /> | |
| <geom type="capsule" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" contype="1" conaffinity="1" /> | |
| <geom type="capsule" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" contype="1" conaffinity="1" /> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| </body> | |
| <!--<body name="object" pos="0.55 -0.3 -0.275" >--> | |
| <body name="object" pos="0.45 -0.05 -0.275" > | |
| <geom rgba="1 1 1 0" type="sphere" size="0.05 0.05 0.05" density="0.00001" conaffinity="0"/> | |
| <geom rgba="1 1 1 1" type="cylinder" size="0.05 0.05 0.05" density="0.00001" contype="1" conaffinity="0"/> | |
| <joint name="obj_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/> | |
| <joint name="obj_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/> | |
| </body> | |
| <body name="goal" pos="0.45 -0.05 -0.3230"> | |
| <geom rgba="1 0 0 1" type="cylinder" size="0.08 0.001 0.1" density='0.00001' contype="0" conaffinity="0"/> | |
| <joint name="goal_slidey" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/> | |
| <joint name="goal_slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/> | |
| </body> | |
| </worldbody> | |
| <actuator> | |
| <motor joint="r_shoulder_pan_joint" ctrlrange="-2.0 2.0" ctrllimited="true" /> | |
| <motor joint="r_shoulder_lift_joint" ctrlrange="-2.0 2.0" ctrllimited="true" /> | |
| <motor joint="r_upper_arm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" /> | |
| <motor joint="r_elbow_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" /> | |
| <motor joint="r_forearm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" /> | |
| <motor joint="r_wrist_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" /> | |
| <motor joint="r_wrist_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true"/> | |
| </actuator> | |
| </mujoco> | |