lots of new stuff...
This commit is contained in:
Maximilian Huettenrauch
@@ -0,0 +1,12 @@
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<mujocoinclude>
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<actuator boastype="none">
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<motor name="wam/shoulder_yaw_link_right_motor" joint="wam/base_yaw_joint_right"/>
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<motor name="wam/shoulder_pitch_joint_right_motor" joint='wam/shoulder_pitch_joint_right'/>
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<motor name="wam/shoulder_yaw_joint_right_motor" joint='wam/shoulder_yaw_joint_right'/>
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<motor name="wam/elbow_pitch_joint_right_motor" joint='wam/elbow_pitch_joint_right'/>
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<motor name="wam/wrist_yaw_joint_right_motor" joint='wam/wrist_yaw_joint_right'/>
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<motor name="wam/wrist_pitch_joint_right_motor" joint='wam/wrist_pitch_joint_right'/>
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<motor name="wam/palm_yaw_joint_right_motor" joint='wam/palm_yaw_joint_right'/>
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</actuator>
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</mujocoinclude>
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@@ -0,0 +1,76 @@
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<mujocoinclude>
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<body name="wam/base_link_left" pos="-2.5 0 2" quat="0 1 0 0" childclass="wam">
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<inertial pos="0 0 0" mass="1" diaginertia="0.1 0.1 0.1"/>
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<geom class="viz" mesh="base_link_fine" rgba="0.5 0.5 0.5 0"/>
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<geom class="col" mesh="base_link_convex" rgba="0.5 0.5 0.5 1"/>
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<body name="wam/shoulder_yaw_link" pos="0 0 0.346">
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<inertial pos="-0.00443422 -0.00066489 -0.128904" quat="0.69566 0.716713 -0.0354863 0.0334839" mass="5"
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diaginertia="0.135089 0.113095 0.0904426"/>
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<joint name="wam/base_yaw_joint" range="-2.6 2.6" damping="1.98"/>
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<geom class="viz" mesh="shoulder_link_fine" rgba="1 1 1 0"/>
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<geom class="col" mesh="shoulder_link_convex_decomposition_p1"/>
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<geom class="col" mesh="shoulder_link_convex_decomposition_p2"/>
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<geom class="col" mesh="shoulder_link_convex_decomposition_p3"/>
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<body name="wam/shoulder_pitch_link" pos="0 0 0" quat="0.707107 -0.707107 0 0">
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<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.961794 0.273112 -0.0169316 0.00866592"
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mass="3.87494" diaginertia="0.0214195 0.0167127 0.0126452"/> <!--seems off-->
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<joint name="wam/shoulder_pitch_joint" range="-1.985 1.985" damping="0.55"/>
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<geom class="viz" mesh="shoulder_pitch_link_fine" rgba="1 1 1 0"/>
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<geom class="col" mesh="shoulder_pitch_link_convex"/>
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<body name="wam/upper_arm_link" pos="0 0 0" quat="0.707107 0.707107 0 0">
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<inertial pos="0.00683259 3.309e-005 0.392492" quat="0.647136 0.0170822 0.0143038 0.762049"
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mass="2.20228" diaginertia="0.0592718 0.0592207 0.00313419"/>
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<joint name="wam/shoulder_yaw_joint" range="-2.8 2.8" damping="1.65"/>
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<geom class="viz" mesh="upper_arm_link_fine" rgba="1 1 1 0"/>
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<geom class="col" mesh="upper_arm_link_convex_decomposition_p1" rgba="0.094 0.48 0.804 1"/>
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<geom class="col" mesh="upper_arm_link_convex_decomposition_p2" rgba="0.094 0.48 0.804 1"/>
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<body name="wam/forearm_link" pos="0.045 0 0.55" quat="0.707107 -0.707107 0 0">
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<inertial pos="-0.0400149 -0.142717 -0.00022942"
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quat="0.704281 0.706326 0.0180333 0.0690353" mass="0.500168"
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diaginertia="0.0151047 0.0148285 0.00275805"/>
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<joint name="wam/elbow_pitch_joint" range="-0.9 3.14159" damping="0.88"/>
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<geom class="viz" mesh="elbow_link_fine" rgba="1 1 1 0"/>
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<geom class="col" mesh="elbow_link_convex"/>
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<geom class="viz" mesh="forearm_link_fine" pos="-.045 -0.0730 0" euler="1.57 0 0" rgba="1 1 1 0"/>
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<geom class="col" mesh="forearm_link_convex_decomposition_p1" pos="-0.045 -0.0730 0"
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euler="1.57 0 0" rgba="0.094 0.48 0.804 1"/>
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<geom class="col" mesh="forearm_link_convex_decomposition_p2" pos="-.045 -0.0730 0"
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euler="1.57 0 0" rgba="0.094 0.48 0.804 1"/>
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<body name="wam/wrist_yaw_link" pos="-0.045 -0.3 0" quat="0.707107 0.707107 0 0">
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<inertial pos="8.921e-005 0.00435824 -0.00511217"
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quat="0.630602 0.776093 0.00401969 -0.002372" mass="1.05376"
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diaginertia="0.000555168 0.00046317 0.000234072"/> <!--this is an approximation-->
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<joint name="wam/wrist_yaw_joint" range="-4.55 1.25" damping="0.55"/>
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<geom class="viz" mesh="wrist_yaw_link_fine" rgba="1 1 1 0"/>
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<geom class="col" mesh="wrist_yaw_link_convex_decomposition_p1"/>
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<geom class="col" mesh="wrist_yaw_link_convex_decomposition_p2"/>
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<body name="wam/wrist_pitch_link" pos="0 0 0" quat="0.707107 -0.707107 0 0">
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<inertial pos="-0.00012262 -0.0246834 -0.0170319"
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quat="0.630602 0.776093 0.00401969 -0.002372" mass="0.517974"
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diaginertia="0.000555168 0.00046317 0.000234072"/>
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<joint name="wam/wrist_pitch_joint" range="-1.5707 1.5707" damping="0.11"/>
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<geom class="viz" mesh="wrist_pitch_link_fine" rgba="1 1 1 0"/>
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<geom class="col" mesh="wrist_pitch_link_convex_decomposition_p1" rgba="1 0.5 0.313 1"/>
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<geom class="col" mesh="wrist_pitch_link_convex_decomposition_p2" rgba="1 0.5 0.313 1"/>
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<geom class="col" mesh="wrist_pitch_link_convex_decomposition_p3" rgba="1 0.5 0.313 1"/>
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<body name="wam/wrist_palm_link" pos="0 0 0" quat="0.707107 0.707107 0 0">
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<inertial pos="0 0 0.055" quat="0.707107 0 0 0.707107" mass="0.0828613"
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diaginertia="0.00020683 0.00010859 0.00010851"/>
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<joint name="wam/palm_yaw_joint" range="-3 3" damping="0.11"/>
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<geom class="viz" mesh="wrist_palm_link_fine" rgba="1 1 1 0"/>
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<geom class="col" mesh="wrist_palm_link_convex"/>
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<body name="paddle_left" pos="0 0 0.26" childclass="contact_geom">
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<geom name="bat_left" type="cylinder" size="0.075 0.0015" rgba="1 0 0 1"
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quat="0.71 0 0.71 0"/>
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<geom name="handle_left" type="box" size="0.005 0.01 0.05" pos="0 0 -0.08"
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rgba="1 1 1 1"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</mujocoinclude>
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@@ -0,0 +1,95 @@
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<mujocoinclue>
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<body name="wam/base_link_right" pos="2.5 0 2" quat="0 0 1 0" childclass="wam" >
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<inertial pos="0 0 0" mass="1" diaginertia="0.1 0.1 0.1"/>
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<geom name="base_link_fine" class="viz" mesh="base_link_fine" rgba="0.5 0.5 0.5 0"/>
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<geom name="base_link_convex" class="col" mesh="base_link_convex" rgba="0.5 0.5 0.5 1"/>
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<body name="wam/shoulder_yaw_link_right" pos="0 0 0.346">
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<inertial pos="-0.00443422 -0.00066489 -0.128904" quat="0.69566 0.716713 -0.0354863 0.0334839" mass="5"
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diaginertia="0.135089 0.113095 0.0904426"/>
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<joint name="wam/base_yaw_joint_right" range="-2.6 2.6" damping="1.98"/>
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<geom name="shoulder_link_fine" class="viz" mesh="shoulder_link_fine" rgba="1 1 1 0"/>
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<geom name="shoulder_link_convex_decomposition_p1" class="col"
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mesh="shoulder_link_convex_decomposition_p1"/>
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<geom name="shoulder_link_convex_decomposition_p2" class="col"
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mesh="shoulder_link_convex_decomposition_p2"/>
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<geom name="shoulder_link_convex_decomposition_p3" class="col"
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mesh="shoulder_link_convex_decomposition_p3"/>
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<body name="wam/shoulder_pitch_link_right" pos="0 0 0" quat="0.707107 -0.707107 0 0">
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<inertial pos="-0.00236981 -0.0154211 0.0310561" quat="0.961794 0.273112 -0.0169316 0.00866592"
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mass="3.87494" diaginertia="0.0214195 0.0167127 0.0126452"/> <!--seems off-->
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<joint name="wam/shoulder_pitch_joint_right" range="-2 2" damping="0.55"/>
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<geom name="shoulder_pitch_link_fine" class="viz" mesh="shoulder_pitch_link_fine" rgba="1 1 1 0"/>
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<geom name="shoulder_pitch_link_convex" class="col" mesh="shoulder_pitch_link_convex"/>
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<body name="wam/upper_arm_link_right" pos="0 0 0" quat="0.707107 0.707107 0 0">
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<inertial pos="0.00683259 3.309e-005 0.392492" quat="0.647136 0.0170822 0.0143038 0.762049"
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mass="2.20228" diaginertia="0.0592718 0.0592207 0.00313419"/>
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<joint name="wam/shoulder_yaw_joint_right" range="-2.8 2.8" damping="1.65"/>
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<geom name="upper_arm_link_fine" class="viz" mesh="upper_arm_link_fine" rgba="1 1 1 0"/>
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<geom name="upper_arm_link_convex_decomposition_p1" class="col"
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mesh="upper_arm_link_convex_decomposition_p1" rgba="0.094 0.48 0.804 1"/>
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<geom name="upper_arm_link_convex_decomposition_p2" class="col"
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mesh="upper_arm_link_convex_decomposition_p2" rgba="0.094 0.48 0.804 1"/>
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<body name="wam/forearm_link_right" pos="0.045 0 0.55" quat="0.707107 -0.707107 0 0">
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<inertial pos="-0.0400149 -0.142717 -0.00022942"
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quat="0.704281 0.706326 0.0180333 0.0690353" mass="0.500168"
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diaginertia="0.0151047 0.0148285 0.00275805"/>
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<joint name="wam/elbow_pitch_joint_right" range="-0.9 3.1" damping="0.88"/>
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<geom name="elbow_link_fine" class="viz" mesh="elbow_link_fine" rgba="1 1 1 0"/>
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<geom name="elbow_link_convex" class="col" mesh="elbow_link_convex"/>
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<geom name="forearm_link_fine" class="viz" mesh="forearm_link_fine" pos="-.045 -0.0730 0"
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euler="1.57 0 0" rgba="1 1 1 0"/>
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<geom name="forearm_link_convex_decomposition_p1" class="col"
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mesh="forearm_link_convex_decomposition_p1" pos="-0.045 -0.0730 0"
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euler="1.57 0 0" rgba="0.094 0.48 0.804 1"/>
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<geom name="forearm_link_convex_decomposition_p2" class="col"
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mesh="forearm_link_convex_decomposition_p2" pos="-.045 -0.0730 0"
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euler="1.57 0 0" rgba="0.094 0.48 0.804 1"/>
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<body name="wam/wrist_yaw_link_right" pos="-0.045 -0.3 0" quat="0.707107 0.707107 0 0">
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<inertial pos="8.921e-005 0.00435824 -0.00511217"
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quat="0.630602 0.776093 0.00401969 -0.002372" mass="1.05376"
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diaginertia="0.000555168 0.00046317 0.000234072"/> <!--this is an approximation-->
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<joint name="wam/wrist_yaw_joint_right" range="-4.8 1.3" damping="0.55"/>
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<geom name="wrist_yaw_link_fine" class="viz" mesh="wrist_yaw_link_fine" rgba="1 1 1 0"/>
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<geom name="wrist_yaw_link_convex_decomposition_p1" class="col"
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mesh="wrist_yaw_link_convex_decomposition_p1"/>
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<geom name="wrist_yaw_link_convex_decomposition_p2" class="col"
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mesh="wrist_yaw_link_convex_decomposition_p2"/>
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<body name="wam/wrist_pitch_link_right" pos="0 0 0" quat="0.707107 -0.707107 0 0">
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<inertial pos="-0.00012262 -0.0246834 -0.0170319"
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quat="0.630602 0.776093 0.00401969 -0.002372" mass="0.517974"
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diaginertia="0.000555168 0.00046317 0.000234072"/>
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<joint name="wam/wrist_pitch_joint_right" range="-1.6 1.6" damping="0.11"/>
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<geom name="wrist_pitch_link_fine" class="viz" mesh="wrist_pitch_link_fine"
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rgba="1 1 1 0"/>
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<geom name="wrist_pitch_link_convex_decomposition_p1" rgba="1 0.5 0.313 1"
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class="col" mesh="wrist_pitch_link_convex_decomposition_p1"/>
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<geom name="wrist_pitch_link_convex_decomposition_p2" rgba="1 0.5 0.313 1"
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class="col" mesh="wrist_pitch_link_convex_decomposition_p2"/>
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<geom name="wrist_pitch_link_convex_decomposition_p3" rgba="1 0.5 0.313 1"
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class="col" mesh="wrist_pitch_link_convex_decomposition_p3"/>
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<body name="wam/wrist_palm_link_right" pos="0 0 0" quat="0.707107 0.707107 0 0">
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<inertial pos="0 0 0.055" quat="0.707107 0 0 0.707107" mass="0.0828613"
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diaginertia="0.00020683 0.00010859 0.00010851"/>
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<joint name="wam/palm_yaw_joint_right" range="-2.2 2.2" damping="0.11"/>
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<geom name="wrist_palm_link_fine" class="viz" mesh="wrist_palm_link_fine"
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rgba="1 1 1 0"/>
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<geom name="wrist_palm_link_convex" class="col" mesh="wrist_palm_link_convex"/>
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<!-- EE=wam/paddle, configure name to the end effector name-->
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<body name="EE" pos="0 0 0.26" childclass="contact_geom">
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<geom name="bat" type="cylinder" size="0.075 0.005" rgba="1 0 0 1"
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quat="0.71 0 0.71 0"/>
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<geom name="wam/paddle_handle" type="box" size="0.005 0.01 0.05" pos="0 0 -0.08"
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rgba="1 1 1 1"/>
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<!-- Extract information for sampling goals.-->
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<site name="wam/paddle_center" pos="0 0 0" rgba="1 1 1 1" size="0.00001"/>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</body>
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</mujocoinclue>
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@@ -0,0 +1,38 @@
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<mujocoinclude>
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<body name="table_tennis_table" pos="0 0 0">
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<geom class="contact_geom" name="table_base_1" type="box" size="0.05 0.05 .375" rgba="1 1 1 1"
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pos="1 0.7 0.375"/>
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<geom class="contact_geom" name="table_base_2" type="box" size="0.05 0.05 .375" rgba="1 1 1 1"
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pos="1 -0.7 0.375"/>
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<geom class="contact_geom" name="table_base_3" type="box" size="0.05 0.05 .375" rgba="1 1 1 1"
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pos="-1 -0.7 0.375"/>
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<geom class="contact_geom" name="table_base_4" type="box" size="0.05 0.05 .375" rgba="1 1 1 1"
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pos="-1 0.7 0.375"/>
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<body name="table_top" pos="0 0 0.76">
|
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<geom class="contact_geom" name="table_tennis_table" type="box" size="1.37 .7625 .01" rgba="0 0 0.5 1"
|
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pos="0 0 0"/>
|
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<!-- <geom class="contact_geom" name="table_tennis_table_right_side" type="box" size="0.685 .7625 .01"-->
|
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<!-- rgba="0.5 0 0 1" pos="0.685 0 0"/>-->
|
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<!-- <geom class="contact_geom" name="table_tennis_table_left_side" type="box" size="0.685 .7625 .01"-->
|
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<!-- rgba="0 0.5 0 1" pos="-0.685 0 0"/>-->
|
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<site name="left_up_corner" pos="-1.37 .7625 0.01" rgba="1 1 1 1" size="0.00001"/>
|
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<site name="middle_up_corner" pos="0 .7625 0.01" rgba="1 1 1 1" size="0.00001"/>
|
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<site name="left_down_corner" pos="-1.37 -0.7625 0.01" rgba="1 1 1 1" size="0.00001"/>
|
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<site name="middle_down_corner" pos="0 -.7625 0.01" rgba="1 1 1 1" size="0.00001"/>
|
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<geom class="contact_geom" name="table_tennis_net" type="box" size="0.01 0.915 0.07625"
|
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material="floor_plane"
|
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rgba="0 0 1 0.5"
|
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pos="0 0 0.08625"/>
|
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<geom class="contact_geom" name="left_while_line" type="box" size="1.37 .02 .001" rgba="1 1 1 1"
|
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pos="0 -0.7425 0.01"/>
|
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<geom class="contact_geom" name="center_while_line" type="box" size="1.37 .01 .001" rgba="1 1 1 1"
|
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pos="0 0 0.01"/>
|
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<geom class="contact_geom" name="right_while_line" type="box" size="1.37 .02 .001" rgba="1 1 1 1"
|
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pos="0 0.7425 0.01"/>
|
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<geom class="contact_geom" name="right_side_line" type="box" size="0.02 .7625 .001" rgba="1 1 1 1"
|
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pos="1.35 0 0.01"/>
|
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<geom class="contact_geom" name="left_side_line" type="box" size="0.02 .7625 .001" rgba="1 1 1 1"
|
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pos="-1.35 0 0.01"/>
|
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</body>
|
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</body>
|
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</mujocoinclude>
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@@ -0,0 +1,10 @@
|
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<mujocoinclude>
|
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<body name="target_ball" pos="-1.2 -0.6 1.5">
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<joint axis="1 0 0" damping="0.0" name="tar:x" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
|
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<joint axis="0 1 0" damping="0.0" name="tar:y" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
|
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<joint axis="0 0 1" damping="0.0" name="tar:z" pos="0 0 0" stiffness="0" type="slide" frictionloss="0"/>
|
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<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="target_ball" rgba="1 1 0 1" mass="0.1"
|
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friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>
|
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<site name="target_ball" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
|
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</body>
|
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</mujocoinclude>
|
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@@ -0,0 +1,80 @@
|
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<mujocoinclude>
|
||||
<body name="test_ball_table" pos="1 0 4">
|
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<joint axis="1 0 0" damping="0.0" name="tar:x_test_ball_table" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 1 0" damping="0.0" name="tar:y_test_ball_table" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 0 1" damping="0.0" name="tar:z_test_ball_table" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="test_ball_table" rgba="0 1 0 1" mass="0.1"
|
||||
friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
<site name="test_ball_table" pos="0 0 0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
|
||||
</body>
|
||||
<body name="test_ball_net" pos="0 0 4">
|
||||
<joint axis="1 0 0" damping="0.0" name="tar:x_test_ball_net" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 1 0" damping="0.0" name="tar:y_test_ball_net" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 0 1" damping="0.0" name="tar:z_test_ball_net" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="test_ball_net" rgba="1 1 0 1" mass="0.1"
|
||||
friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
<site name="test_ball_net" pos="0 0 0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
|
||||
</body>
|
||||
<body name="test_ball_racket_0" pos="2.54919187 0.81642672 4">
|
||||
<joint axis="1 0 0" damping="0.0" name="tar:x_test_ball_racket_0" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 1 0" damping="0.0" name="tar:y_test_ball_racket_0" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 0 1" damping="0.0" name="tar:z_test_ball_racket_0" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="test_ball_racket_0" rgba="1 0 1 1" mass="0.1"
|
||||
friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
<site name="test_ball_racket_0" pos="0 0 0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
|
||||
</body>
|
||||
<body name="test_ball_racket_1" pos="2.54919187 0.81642672 4.5">
|
||||
<joint axis="1 0 0" damping="0.0" name="tar:x_test_ball_racket_1" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 1 0" damping="0.0" name="tar:y_test_ball_racket_1" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 0 1" damping="0.0" name="tar:z_test_ball_racket_1" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="test_ball_racket_1" rgba="1 0 1 1" mass="0.1"
|
||||
friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
<site name="test_ball_racket_1" pos="0 0 0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
|
||||
</body>
|
||||
<body name="test_ball_racket_2" pos="2.54919187 0.81642672 3">
|
||||
<joint axis="1 0 0" damping="0.0" name="tar:x_test_ball_racket_2" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 1 0" damping="0.0" name="tar:y_test_ball_racket_2" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 0 1" damping="0.0" name="tar:z_test_ball_racket_2" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="test_ball_racket_2" rgba="1 0 1 1" mass="0.1"
|
||||
friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
<site name="test_ball_racket" pos="0 0 0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
|
||||
</body>
|
||||
<body name="test_ball_racket_3" pos="2.54919187 0.81642672 10">
|
||||
<joint axis="1 0 0" damping="0.0" name="tar:x_test_ball_racket_3" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 1 0" damping="0.0" name="tar:y_test_ball_racket_3" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<joint axis="0 0 1" damping="0.0" name="tar:z_test_ball_racket_3" pos="0 0 0" stiffness="0" type="slide"
|
||||
frictionloss="0"/>
|
||||
<geom size="0.025 0.025 0.025" type="sphere" condim="4" name="test_ball_racket_3" rgba="1 0 1 1" mass="0.1"
|
||||
friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
<site name="test_ball_racket_3" pos="0 0 0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
|
||||
</body>
|
||||
<!-- <body name="test_ball_racket_4" pos="2.54919187 0.81642672 4">-->
|
||||
<!-- <joint axis="1 0 0" damping="0.0" name="tar:x_test_ball_racket_4" pos="0 0 0" stiffness="0" type="slide"-->
|
||||
<!-- frictionloss="0"/>-->
|
||||
<!-- <joint axis="0 1 0" damping="0.0" name="tar:y_test_ball_racket_4" pos="0 0 0" stiffness="0" type="slide"-->
|
||||
<!-- frictionloss="0"/>-->
|
||||
<!-- <joint axis="0 0 1" damping="0.0" name="tar:z_test_ball_racket_4" pos="0 0 0" stiffness="0" type="slide"-->
|
||||
<!-- frictionloss="0"/>-->
|
||||
<!-- <geom size="0.025 0.025 0.025" type="sphere" condim="4" name="test_ball_racket_4" rgba="1 0 0 1" mass="0.1"-->
|
||||
<!-- friction="0.1 0.1 0.1" solimp="1 1 0" solref="0.1 0.03"/>-->
|
||||
<!-- <site name="test_ball_racket_4" pos="0 0 0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>-->
|
||||
<!-- </body>-->
|
||||
|
||||
</mujocoinclude>
|
||||
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@@ -0,0 +1,19 @@
|
||||
<mujocoinclude>
|
||||
<actuator>
|
||||
|
||||
<!-- <position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="100.0" />-->
|
||||
<!-- <position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="162.0" />-->
|
||||
<!-- <position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="100.0" />-->
|
||||
<!-- <position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="122.0" />-->
|
||||
<!-- <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="100.0" />-->
|
||||
<!-- <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="102.0" />-->
|
||||
<!-- <position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="100.0" />-->
|
||||
<position ctrlrange="-2.6 2.6" joint="wam/base_yaw_joint_right" kp="151.0"/>
|
||||
<position ctrlrange="-1.985 1.985" joint="wam/shoulder_pitch_joint_right" kp="125.0"/>
|
||||
<position ctrlrange="-2.8 2.8" joint="wam/shoulder_yaw_joint_right" kp="122.0"/>
|
||||
<position ctrlrange="-0.9 3.14159" joint="wam/elbow_pitch_joint_right" kp="121.0"/>
|
||||
<position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint_right" kp="99.0"/>
|
||||
<position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint_right" kp="103.0"/>
|
||||
<position ctrlrange="-3 3" joint="wam/palm_yaw_joint_right" kp="99.0"/>
|
||||
</actuator>
|
||||
</mujocoinclude>
|
||||
@@ -0,0 +1,49 @@
|
||||
<mujocoinclude>
|
||||
<default>
|
||||
<default class="wam">
|
||||
<joint type="hinge" limited="true" pos="0 0 0" axis="0 0 1"/>
|
||||
</default>
|
||||
<default class="viz">
|
||||
<geom type="mesh" contype="0" conaffinity="0" group="1" rgba="1 1 1 1"/>
|
||||
</default>
|
||||
<default class="col">
|
||||
<geom type="mesh" contype="0" conaffinity="1" group="0" rgba="1 1 1 1"/>
|
||||
</default>
|
||||
<default class="contact_geom">
|
||||
<geom condim="4" friction="0.1 0.1 0.1" margin="0" solimp="1 1 0" solref="0.1 0.03"/>
|
||||
<!-- <geom condim="4" friction="0 0 0" margin="0" solimp="1 1 0" solref="0.01 1.1"/>-->
|
||||
|
||||
</default>
|
||||
</default>
|
||||
<asset>
|
||||
<mesh file="base_link_fine.stl"/>
|
||||
<mesh file="base_link_convex.stl"/>
|
||||
<mesh file="shoulder_link_fine.stl"/>
|
||||
<mesh file="shoulder_link_convex_decomposition_p1.stl"/>
|
||||
<mesh file="shoulder_link_convex_decomposition_p2.stl"/>
|
||||
<mesh file="shoulder_link_convex_decomposition_p3.stl"/>
|
||||
<mesh file="shoulder_pitch_link_fine.stl"/>
|
||||
<mesh file="shoulder_pitch_link_convex.stl"/>
|
||||
<mesh file="upper_arm_link_fine.stl"/>
|
||||
<mesh file="upper_arm_link_convex_decomposition_p1.stl"/>
|
||||
<mesh file="upper_arm_link_convex_decomposition_p2.stl"/>
|
||||
<mesh file="elbow_link_fine.stl"/>
|
||||
<mesh file="elbow_link_convex.stl"/>
|
||||
<mesh file="forearm_link_fine.stl"/>
|
||||
<mesh file="forearm_link_convex_decomposition_p1.stl"/>
|
||||
<mesh file="forearm_link_convex_decomposition_p2.stl"/>
|
||||
<mesh file="wrist_yaw_link_fine.stl"/>
|
||||
<mesh file="wrist_yaw_link_convex_decomposition_p1.stl"/>
|
||||
<mesh file="wrist_yaw_link_convex_decomposition_p2.stl"/>
|
||||
<mesh file="wrist_pitch_link_fine.stl"/>
|
||||
<mesh file="wrist_pitch_link_convex_decomposition_p1.stl"/>
|
||||
<mesh file="wrist_pitch_link_convex_decomposition_p2.stl"/>
|
||||
<mesh file="wrist_pitch_link_convex_decomposition_p3.stl"/>
|
||||
<mesh file="wrist_palm_link_fine.stl"/>
|
||||
<mesh file="wrist_palm_link_convex.stl"/>
|
||||
|
||||
<texture builtin="checker" height="512" name="texplane" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" type="2d"
|
||||
width="512"/>
|
||||
<material name="floor_plane" reflectance="0.5" texrepeat="1 1" texture="texplane" texuniform="true"/>
|
||||
</asset>
|
||||
</mujocoinclude>
|
||||
@@ -0,0 +1,41 @@
|
||||
<mujoco model="table_tennis(v0.1)">
|
||||
<compiler angle="radian" coordinate="local" meshdir="meshes/" />
|
||||
|
||||
<option gravity="0 0 -9.81" timestep="0.002">
|
||||
<flag warmstart="enable" />
|
||||
</option>
|
||||
|
||||
|
||||
<custom>
|
||||
<numeric data="0 0 0 0 0 0 0" name="START_ANGLES" />
|
||||
</custom>
|
||||
|
||||
|
||||
<include file="shared.xml" />
|
||||
|
||||
<worldbody>
|
||||
<light cutoff="60" diffuse="1 1 1" dir="-.1 -.2 -1.3" directional="true" exponent="1" pos=".1 .2 1.3" specular=".1 .1 .1" />
|
||||
<geom conaffinity="1" contype="1" material="floor_plane" name="floor" pos="0 0 0" size="10 5 1" type="plane" />
|
||||
|
||||
|
||||
<include file="include_table.xml" />
|
||||
|
||||
|
||||
|
||||
<include file="include_barrett_wam_7dof_right.xml" />
|
||||
|
||||
<include file="include_target_ball.xml" />
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
</worldbody>
|
||||
|
||||
|
||||
|
||||
|
||||
<include file="right_arm_actuator.xml" />
|
||||
|
||||
|
||||
</mujoco>
|
||||
Reference in New Issue
Block a user