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- <!-- Copyright 2021 DeepMind Technologies Limited
- Licensed under the Apache License, Version 2.0 (the "License");
- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
- http://www.apache.org/licenses/LICENSE-2.0
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
- -->
- <mujoco model="2-link 6-muscle arm">
- <option timestep="0.005" iterations="50" solver="Newton" tolerance="1e-10"/>
- <visual>
- <rgba haze=".3 .3 .3 1"/>
- </visual>
- <default>
- <joint type="hinge" pos="0 0 0" axis="0 0 1" limited="true" range="0 120" damping="0.1"/>
- <muscle ctrllimited="true" ctrlrange="0 1"/>
- </default>
- <asset>
- <texture type="skybox" builtin="gradient" rgb1="0.6 0.6 0.6" rgb2="0 0 0" width="512" height="512"/>
- <texture name="texplane" type="2d" builtin="checker" rgb1=".25 .25 .25" rgb2=".3 .3 .3" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
- <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
- </asset>
- <worldbody>
- <geom name="floor" pos="0 0 -0.5" size="0 0 1" type="plane" material="matplane"/>
- <light directional="true" diffuse=".8 .8 .8" specular=".2 .2 .2" pos="0 0 5" dir="0 0 -1"/>
- <site name="s0" pos="-0.15 0 0" size="0.02"/>
- <site name="x0" pos="0 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
- <body pos="0 0 0">
- <geom name="upper arm" type="capsule" size="0.045" fromto="0 0 0 0.5 0 0" rgba=".5 .1 .1 1"/>
- <joint name="shoulder"/>
- <geom name="shoulder" type="cylinder" pos="0 0 0" size=".1 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
- <site name="s1" pos="0.15 0.06 0" size="0.02"/>
- <site name="s2" pos="0.15 -0.06 0" size="0.02"/>
- <site name="s3" pos="0.4 0.06 0" size="0.02"/>
- <site name="s4" pos="0.4 -0.06 0" size="0.02"/>
- <site name="s5" pos="0.25 0.1 0" size="0.02"/>
- <site name="s6" pos="0.25 -0.1 0" size="0.02"/>
- <site name="x1" pos="0.5 -0.15 0" size="0.02" rgba="0 .7 0 1" group="1"/>
- <body pos="0.5 0 0">
- <geom name="forearm" type="capsule" size="0.035" fromto="0 0 0 0.5 0 0" rgba=".5 .1 .1 1"/>
- <joint name="elbow"/>
- <geom name="elbow" type="cylinder" pos="0 0 0" size=".08 .05" rgba=".5 .1 .8 .5" mass="0" group="1"/>
- <site name="s7" pos="0.11 0.05 0" size="0.02"/>
- <site name="s8" pos="0.11 -0.05 0" size="0.02"/>
- </body>
- </body>
- </worldbody>
- <tendon>
- <spatial name="SF" width="0.01">
- <site site="s0"/>
- <geom geom="shoulder"/>
- <site site="s1"/>
- </spatial>
- <spatial name="SE" width="0.01">
- <site site="s0"/>
- <geom geom="shoulder" sidesite="x0"/>
- <site site="s2"/>
- </spatial>
- <spatial name="EF" width="0.01">
- <site site="s3"/>
- <geom geom="elbow"/>
- <site site="s7"/>
- </spatial>
- <spatial name="EE" width="0.01">
- <site site="s4"/>
- <geom geom="elbow" sidesite="x1"/>
- <site site="s8"/>
- </spatial>
- <spatial name="BF" width="0.009" rgba=".4 .6 .4 1">
- <site site="s0"/>
- <geom geom="shoulder"/>
- <site site="s5"/>
- <geom geom="elbow"/>
- <site site="s7"/>
- </spatial>
- <spatial name="BE" width="0.009" rgba=".4 .6 .4 1">
- <site site="s0"/>
- <geom geom="shoulder" sidesite="x0"/>
- <site site="s6"/>
- <geom geom="elbow" sidesite="x1"/>
- <site site="s8"/>
- </spatial>
- </tendon>
- <actuator>
- <muscle name="SF" tendon="SF"/>
- <muscle name="SE" tendon="SE"/>
- <muscle name="EF" tendon="EF"/>
- <muscle name="EE" tendon="EE"/>
- <muscle name="BF" tendon="BF"/>
- <muscle name="BE" tendon="BE"/>
- </actuator>
- </mujoco>
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