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anki-3d-engine
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Branch: gi_vrs
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anki-3d-engine
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ThirdParty
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Bullet
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data
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mjcf
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thrower.xml

thrower.xml 8.1 KB
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  1. <mujoco model="thrower">
    2. 

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

  3.   <default>
    4. 

  4. 	<joint armature='0.75' damping="0" limited="true"/>
    5. 

  5. 	<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
    6. 

  6.   </default>
    7. 

  7. 

  8.   <worldbody>
    9. 

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

  10. 	<geom type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
    11. 

  11. 	<!--Arm-->
    12. 

  12. 	<body name="shoulder_pan_link" pos="0 -0.6 0">
    13. 

  13. 	  <geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" density="0.0001"/>
    14. 

  14. 	  <geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" density="0.0001"/>
    15. 

  15. 	  <geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" density="0.0001"/>
    16. 

  16. 	  <geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" density="0.0001"/>
    17. 

  17. 	  <geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" density="1"/>
    18. 

  18. 	  <joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.4854 1.214602" damping="1.0"/>
    19. 

  19. 

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

  21. 		<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" density="0.0001"/>
    22. 

  22. 		<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 0.7963" damping="1.0"/>
    23. 

  23. 

  24. 		<body name="upper_arm_roll_link" pos="0 0 0">
    25. 

  25. 		  <geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
    26. 

  26. 		  <joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="1.0"/>
    27. 

  27. 

  28. 		  <body name="upper_arm_link" pos="0 0 0">
    29. 

  29. 			<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" density="0.0001"/>
    30. 

  30. 

  31. 			<body name="elbow_flex_link" pos="0.4 0 0">
    32. 

  32. 			  <geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" density="0.0001"/>
    33. 

  33. 			  <joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.7 0.7" damping="1.0"/>
    34. 

  34. 

  35. 			  <body name="forearm_roll_link" pos="0 0 0">
    36. 

  36. 				<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
    37. 

  37. 				<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="1.0" range="-1.5 1.5"/>
    38. 

  38. 

  39. 				<body name="forearm_link" pos="0 0 0" axisangle="1 0 0 0.392">
    40. 

  40. 				  <geom name="fa" type="capsule" fromto="0 0 0 0 0 0.291" size="0.05" density="0.0001"/>
    41. 

  41. 

  42. 				  <body name="wrist_flex_link" pos="0 0 0.321" axisangle="0 0 1 1.57">
    43. 

  43. 					<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" density="0.0001"/>
    44. 

  44. 					<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" damping="1.0" />
    45. 

  45. 

  46. 					<body name="wrist_roll_link" pos="0 0 0" axisangle="0 1 0 -1.178">
    47. 

  47. 					  <joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="0 1 0" damping="1.0" range="0 2.25"/>
    48. 

  48. 					  <geom type="capsule" fromto="0 -0.05 0 0 0.05 0" size="0.01" contype="1" conaffinity="1" density="0.0001"/>
    49. 

  49. 					  <body name="fingertip" pos="0 0 0" axisangle="0 0 1 0.392">
    50. 

  50. 						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    51. 

  51. 						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density=".0001"/>
    52. 

  52. 						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    53. 

  53. 					  </body>
    54. 

  54. 					  <body pos="0 0 0" axisangle="0 0 1 1.57">
    55. 

  55. 						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    56. 

  56. 						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    57. 

  57. 						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    58. 

  58. 					  </body>
    59. 

  59. 					  <body pos="0 0 0" axisangle="0 0 1 1.178">
    60. 

  60. 						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    61. 

  61. 						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    62. 

  62. 						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    63. 

  63. 					  </body>
    64. 

  64. 					  <body pos="0 0 0" axisangle="0 0 1 0.785">
    65. 

  65. 						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    66. 

  66. 						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    67. 

  67. 						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    68. 

  68. 					  </body>
    69. 

  69. 					  <body pos="0 0 0" axisangle="0 0 1 1.96">
    70. 

  70. 						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    71. 

  71. 						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    72. 

  72. 						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    73. 

  73. 					  </body>
    74. 

  74. 					  <body pos="0 0 0" axisangle="0 0 1 2.355">
    75. 

  75. 						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    76. 

  76. 						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    77. 

  77. 						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    78. 

  78. 					  </body>
    79. 

  79. 					  <body pos="0 0 0" axisangle="0 0 1 2.74">
    80. 

  80. 						<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    81. 

  81. 						<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    82. 

  82. 						<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
    83. 

  83. 					  </body>
    84. 

  84. 					</body>
    85. 

  85. 				  </body>
    86. 

  86. 				</body>
    87. 

  87. 			  </body>
    88. 

  88. 			</body>
    89. 

  89. 		  </body>
    90. 

  90. 		</body>
    91. 

  91. 	  </body>
    92. 

  92. 	</body>
    93. 

  93. 

  94. 	<!--Object-->
    95. 

  95. 	<body name="object" pos="0.5 -0.8 0.275">
    96. 

  96. 	  <geom rgba="1. 1. 1. 1" type="sphere" size="0.03 0.03 0.1" density='25' contype="1" conaffinity="1"/>
    97. 

  97. 	  <joint name="object_free" type="free" armature='0' damping="0" limited="false"/>
    98. 

  98. 	</body>
    99. 

  99. 

  100. 	<!--Target-->
    101. 

  101. 	<body name="target" pos="0.575 0.5 -0.328">
    102. 

  102. 	  <geom rgba="1 1 1 1" type="box" pos="0 0 0.005" size="0.075 0.075 0.001" contype="1" conaffinity="1" density="1000"/>
    103. 

  103. 	  <geom rgba="1 1 1 1" type="box" pos="0.0 0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
    104. 

  104. 	  <geom rgba="1 1 1 1" type="box" pos="0.0 -0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
    105. 

  105. 	  <geom rgba="1 1 1 1" type="box" pos="0.075 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
    106. 

  106. 	  <geom rgba="1 1 1 1" type="box" pos="-0.076 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
    107. 

  107. 	  <geom rgba="1 1 1 1" type="capsule" fromto="0.073 0.073 0.0075 0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
    108. 

  108. 	  <geom rgba="1 1 1 1" type="capsule" fromto="0.073 -0.073 0.0075 0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
    109. 

  109. 	  <geom rgba="1 1 1 1" type="capsule" fromto="-0.073 0.073 0.0075 -0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
    110. 

  110. 	  <geom rgba="1 1 1 1" type="capsule" fromto="-0.073 -0.073 0.0075 -0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
    111. 

  111. 	  <joint name="target_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
    112. 

  112. 	  <joint name="target_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
    113. 

  113. 	</body>
    114. 

  114. 

  115.   </worldbody>
    116. 

  116. 

  117.   <actuator>
    118. 

  118. 	<motor joint="shoulder_pan_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
    119. 

  119. 	<motor joint="shoulder_lift_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
    120. 

  120. 	<motor joint="upper_arm_roll_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
    121. 

  121. 	<motor joint="elbow_flex_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
    122. 

  122. 	<motor joint="forearm_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
    123. 

  123. 	<motor joint="wrist_flex_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
    124. 

  124. 	<motor joint="wrist_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true"/>
    125. 

  125.   </actuator>
    126. 

  126. 

  127. </mujoco>
    128.