Accueil Explorer Aide
Connexion
TorqueEngine
/
Torque3D
miroir de https://github.com/TorqueGameEngines/Torque3D.git
2
0
Fork 0
Fichiers Tickets 0 Wiki
Branche: Preview4_0
Branches Tags
Torque3D
/
Engine
/
lib
/
bullet
/
data
/
mjcf
/
reacher.xml

reacher.xml 2.2 KB
Lien permanent Historique Raw

123456789101112131415161718192021222324252627282930313233343536373839 
  1. <mujoco model="reacher">
    2. 

  2. 	<compiler angle="radian" inertiafromgeom="true"/>
    3. 

  3. 	<default>
    4. 

  4. 		<joint armature="1" damping="1" limited="true"/>
    5. 

  5. 		<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
    6. 

  6. 	</default>
    7. 

  7. 	<option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/>
    8. 

  8. 	<worldbody>
    9. 

  9. 		<!-- Arena -->
    10. 

  10. 		<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"/>
    11. 

  11. 		<geom conaffinity="0" fromto="-.3 -.3 .01 .3 -.3 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
    12. 

  12. 		<geom conaffinity="0" fromto=" .3 -.3 .01 .3  .3 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
    13. 

  13. 		<geom conaffinity="0" fromto="-.3  .3 .01 .3  .3 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
    14. 

  14. 		<geom conaffinity="0" fromto="-.3 -.3 .01 -.3 .3 .01" name="sideW" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
    15. 

  15. 		<!-- Arm -->
    16. 

  16. 		<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"/>
    17. 

  17. 		<body name="body0" pos="0 0 .01">
    18. 

  18. 			<geom fromto="0 0 0 0.1 0 0" name="link0" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
    19. 

  19. 			<joint axis="0 0 1" limited="false" name="joint0" pos="0 0 0" type="hinge"/>
    20. 

  20. 			<body name="body1" pos="0.1 0 0">
    21. 

  21. 				<joint axis="0 0 1" limited="true" name="joint1" pos="0 0 0" range="-3.0 3.0" type="hinge"/>
    22. 

  22. 				<geom fromto="0 0 0 0.1 0 0" name="link1" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
    23. 

  23. 				<body name="fingertip" pos="0.11 0 0">
    24. 

  24. 					<geom contype="0" name="fingertip" pos="0 0 0" rgba="0.0 0.8 0.6 1" size=".01" type="sphere"/>
    25. 

  25. 				</body>
    26. 

  26. 			</body>
    27. 

  27. 		</body>
    28. 

  28. 		<!-- Target -->
    29. 

  29. 		<body name="target" pos="0 0 .01">
    30. 

  30. 			<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
    31. 

  31. 			<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
    32. 

  32. 			<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>
    33. 

  33. 		</body>
    34. 

  34. 	</worldbody>
    35. 

  35. 	<actuator>
    36. 

  36. 		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/>
    37. 

  37. 		<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/>
    38. 

  38. 	</actuator>
    39. 

  39. </mujoco>
    40.