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test.xml
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<mujoco>
<compiler angle="degree"/>
<asset>
<mesh name="base_stl" file="meshes/base.stl"/>
<mesh name="long_U_stl" file="meshes/long_U.stl"/>
<mesh name="section_1_stl" file="meshes/section_1.stl"/>
<mesh name="section_2_stl" file="meshes/section_2.stl"/>
<mesh name="section_3_stl" file="meshes/section_3.stl"/>
<mesh name="section_4_stl" file="meshes/section_4.stl"/>
<mesh name="section_5_stl" file="meshes/gripper.stl"/>
<texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
</asset>
<default>
<default class="myjoint">
<joint damping="10"/>
<!-- <joint damping="0.01"/> -->
</default>
<default class="translation">
<position kp="100" dampratio="1" ctrlrange="-.45 .45"/>
</default>
<default class="rotation">
<!--
Note that the rotational control range is purposefully limited to (-pi/2, pi/2) to avoid the
documented instabillity near pi, which is due to taking quaternion differences.
Increase this range to pi or bigger in order to see the instabillity.
See here for more details https://mujoco.readthedocs.io/en/latest/XMLreference.html#actuator
-->
<position kp=".5" dampratio="1" ctrlrange="-1.571 1.571"/>
</default>
</default>
<worldbody>
<light name="spotlight" mode="targetbodycom" target="base" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 0.4" cutoff="30"/>
<geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
<site name="reference" pos="0 0 0"/>
<body>
<geom name="base_g" type="mesh" mesh="base_stl" rgba="1 1 0 1"/>
<body name="base" pos="0 0 0.033" euler="90 0 0">
<joint name="j1" type="hinge" axis="0 1 0" class="myjoint" range="180 -180"/>
<geom name="long_U1" type="mesh" mesh="long_U_stl" rgba="1 0 1 1"/>
<body pos="0 0.024 0" euler="-90 0 0">
<joint name="j2" type="hinge" axis="1 0 0" class="myjoint" range="135 -135"/>
<geom name="section_1" type="mesh" mesh="section_1_stl" rgba="0 1 1 1"/>
<body pos="0 0 0.0544" euler="0 0 0">
<joint name="j3" type="hinge" axis="1 0 0" class="myjoint"/>
<geom name="section_2" type="mesh" mesh="section_2_stl" rgba="0.3 0 0.4 1"/>
<body pos="0 0 0.045" euler="0 0 0">
<joint name="j4" type="hinge" axis="0 0 1" class="myjoint"/>
<geom name="section_3" type="mesh" mesh="section_3_stl" rgba="0.2 0.3 0 1"/>
<body pos="0 -0.106 0" euler="0 0 0">
<joint name="j5" type="hinge" pos="0 0.058 0" axis="1 0 0" class="myjoint"/>
<geom name="section_4" type="mesh" mesh="section_4_stl" rgba="0.4 0 0 1"/>
<body pos="0 0 0" euler="0 0 0">
<joint name="j6" type="hinge" pos="0 0 0" axis="0 0 1" class="myjoint"/>
<geom name="section_5" type="mesh" mesh="section_5_stl" rgba="0 0.4 0 1"/>
<site name="end_effector" pos="0 0 0"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name="j1_act" joint="j1" ctrlrange="-1 1" ctrllimited="true" forcelimited="true" forcerange="-1000 1000"/>
<!-- <position name="x" site="end_effector" refsite="reference" gear="1 0 0 0 0 0" class="translation"/> -->
<!-- <position name="y" site="end_effector" refsite="reference" gear="0 1 0 0 0 0" class="translation"/> -->
<!-- <position name="z" site="end_effector" refsite="reference" gear="0 0 1 0 0 0" class="translation"/> -->
<!-- <position name="rx" site="end_effector" refsite="reference" gear="0 0 0 1 0 0" class="rotation"/> -->
<!-- <position name="ry" site="end_effector" refsite="reference" gear="0 0 0 0 1 0" class="rotation"/> -->
<!-- <position name="rz" site="end_effector" refsite="reference" gear="0 0 0 0 0 1" class="rotation"/> -->
</actuator>
</mujoco>