mirror of
https://github.com/bulletphysics/bullet3
synced 2024-12-16 14:40:05 +00:00
91 lines
5.1 KiB
XML
91 lines
5.1 KiB
XML
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<mujoco model="pusher">
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<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
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<default>
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<joint armature='0.04' damping="0" limited="true"/>
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<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
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</default>
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<option timestep="0.01" gravity="0 0 0" integrator="RK4" />
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<worldbody>
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<!--Arena-->
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<geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
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<!--Arm-->
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<body name="shoulder_pan_link" pos="0 -0.6 0">
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<geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
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<geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
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<geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
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<geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
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<geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
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<joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="0" />
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<body name="shoulder_lift_link" pos="0.1 0 0">
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<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
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<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="0" />
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<body name="upper_arm_roll_link" pos="0 0 0">
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<geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
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<joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0" />
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<body name="upper_arm_link" pos="0 0 0">
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<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
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<body name="elbow_flex_link" pos="0.4 0 0">
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<geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
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<joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0" />
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<body name="forearm_roll_link" pos="0 0 0">
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<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
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<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="0" range="-1.5 1.5"/>
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<body name="forearm_link" pos="0 0 0">
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<geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
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<body name="wrist_flex_link" pos="0.321 0 0">
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<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
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<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping="0" />
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<body name="wrist_roll_link" pos="0 0 0">
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<joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0" range="-1.5 1.5"/>
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<body name="fingertip" pos="0 0 0">
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<geom name="tip_arml" type="sphere" pos="0.1 -0.1 0." size="0.01" />
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<geom name="tip_armr" type="sphere" pos="0.1 0.1 0." size="0.01" />
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</body>
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<geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" contype="1" conaffinity="1" />
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<geom type="capsule" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" contype="1" conaffinity="1" />
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<geom type="capsule" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" contype="1" conaffinity="1" />
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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<!--Object-->
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<body name="object" pos="0.45 -0.05 -0.275" >
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<geom rgba="1 1 1 0" type="sphere" size="0.05 0.05 0.05" density="0.00001" conaffinity="0"/>
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<geom rgba="1 1 1 1" type="cylinder" size="0.05 0.05 0.05" density="0.00001" contype="1" conaffinity="0"/>
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<joint name="object_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
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<joint name="object_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
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</body>
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<!--Target-->
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<body name="target" pos="0.45 -0.05 -0.3230">
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<geom rgba="1 0 0 1" type="cylinder" size="0.08 0.001 0.1" density='0.00001' contype="0" conaffinity="0"/>
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<joint name="target_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
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<joint name="target_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
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</body>
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</worldbody>
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<actuator>
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<motor joint="shoulder_pan_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
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<motor joint="shoulder_lift_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
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<motor joint="upper_arm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
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<motor joint="elbow_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
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<motor joint="forearm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
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<motor joint="wrist_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
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<motor joint="wrist_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true"/>
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</actuator>
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</mujoco>
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