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2DOFmodel.xml
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<mujoco model="two_link_planar_manipulator">
<compiler angle="degree" />
<option timestep="0.002" />
<default>
<joint damping="1.0" limited="true" range="-180 180" />
<geom friction="0.8" contype="1" conaffinity="1" />
</default>
<asset>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="256" />
</asset>
<worldbody>
<light pos="0 1 1" dir="0 -1 -1" diffuse="1 1 1" />
<body name="base" pos="0 0 0">
<body name="link1" pos="0 0 0">
<joint name="joint1" type="hinge" axis="0 0 1" />
<geom name="link1_geom" type="capsule" fromto="0 0 0 1 0 0" size="0.05" rgba="1 0 0 1" contype="1" conaffinity="1" />
<body name="link2" pos="1 0 0">
<joint name="joint2" type="hinge" axis="0 0 1" pos="0 0 0" />
<geom name="link2_geom" type="capsule" fromto="0 0 0 1 0 0" size="0.05" rgba="0 0 1 1" contype="1" conaffinity="1" />
<site name="end_effector" pos="1 0 0" size="0.01" type="sphere" rgba="0 0 0 0" />
</body>
</body>
</body>
<!-- Stationary object placed out of the initial reach of the robot arm -->
<body name="stationary_object" pos="2 0 0">
<geom name="stationary_geom" type="box" size="0.1 0.1 0.1" rgba="0 1 0 1" contype="1" conaffinity="1" />
</body>
</worldbody>
<actuator>
<motor joint="joint1" ctrlrange="-1 1" ctrllimited="true" />
<motor joint="joint2" ctrlrange="-1 1" ctrllimited="true" />
</actuator>
<sensor>
<force name="force_sensor" site="end_effector" />
</sensor>
</mujoco>