Spaces:
Running
Running
| <mujoco model="reacher"> | |
| <compiler angle="radian" inertiafromgeom="true"/> | |
| <default> | |
| <joint armature="1" damping="1" limited="true"/> | |
| <geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/> | |
| </default> | |
| <option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/> | |
| <worldbody> | |
| <!-- Arena --> | |
| <geom conaffinity="0" contype="0" name="ground" pos="0 0 0" rgba="0.9 0.9 0.9 1" size="1 1 10" type="plane"/> | |
| <geom conaffinity="0" fromto="-.3 -.3 .01 .3 -.3 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/> | |
| <geom conaffinity="0" fromto=" .3 -.3 .01 .3 .3 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/> | |
| <geom conaffinity="0" fromto="-.3 .3 .01 .3 .3 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/> | |
| <geom conaffinity="0" fromto="-.3 -.3 .01 -.3 .3 .01" name="sideW" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/> | |
| <!-- Arm --> | |
| <geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/> | |
| <body name="body0" pos="0 0 .01"> | |
| <geom fromto="0 0 0 0.1 0 0" name="link0" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/> | |
| <joint axis="0 0 1" limited="false" name="joint0" pos="0 0 0" type="hinge"/> | |
| <body name="body1" pos="0.1 0 0"> | |
| <joint axis="0 0 1" limited="true" name="joint1" pos="0 0 0" range="-3.0 3.0" type="hinge"/> | |
| <geom fromto="0 0 0 0.1 0 0" name="link1" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/> | |
| <body name="fingertip" pos="0.11 0 0"> | |
| <geom contype="0" name="fingertip" pos="0 0 0" rgba="0.0 0.8 0.6 1" size=".01" type="sphere"/> | |
| </body> | |
| </body> | |
| </body> | |
| <!-- Target --> | |
| <body name="target" pos=".1 -.1 .01"> | |
| <joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" ref=".1" stiffness="0" type="slide"/> | |
| <joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" ref="-.1" stiffness="0" type="slide"/> | |
| <geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/> | |
| </body> | |
| </worldbody> | |
| <actuator> | |
| <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/> | |
| <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/> | |
| </actuator> | |
| </mujoco> | |