File size: 9,325 Bytes
637e628 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 | <?xml version="1.0" encoding="utf-8"?>
<mujoco model="mouse">
<compiler angle="degree">
<lengthrange mode="muscle" timestep="0"/>
</compiler>
<option integrator="RK4" timestep="0.001" solver="CG" iterations="6" ls_iterations="6"/>
<default>
<joint limited="true" solreflimit="0.01 1" solimplimit="0.99 0.9999 0" armature="4e-8" damping="1e-5" stiffness="1e-12"/>
<muscle ctrllimited="true" ctrlrange="0 1"/>
</default>
<size njmax="1000" nconmax="400" nkey="1" nuser_jnt="1"/>
<visual>
<scale framelength="0.5" framewidth="0.01"/>
<global offheight="512"/>
</visual>
<asset>
<material name="target" rgba="0.6 0.3 0.3 0.3"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2="0.6 0.8 1" width="256" height="1536"/>
<texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
<mesh name="Bones_Scapula" file="./GeomJan01242023/Bones_Scapula.stl"/>
<mesh name="Bone_Segmentation_Segment_8" file="./GeomJan01242023/Bone_Segmentation_Segment_8.stl"/>
<mesh name="Bone_Segmentation_Humerus" file="./GeomJan01242023/Bone_Segmentation_Humerus.stl"/>
<mesh name="Bone_Segments_Ulna" file="./GeomJan01242023/Bone_Segments_Ulna.stl"/>
<mesh name="Bone_Segments_Radius" file="./GeomJan01242023/Bone_Segments_Radius.stl"/>
<mesh name="Bone_Segments_Hand" file="./GeomJan01242023/Bone_Segments_Hand.stl"/>
</asset>
<worldbody>
<light directional="true"/>
<body name="ground">
<camera name="my_camera" pos="0.04 .004 0.037" fovy="20"
quat="0.6532815 0.2705981 0.2705981 0.6532815"/>
<camera name="close-profile" pos="0.04 .004 0.037" fovy="20"
quat="0.6532815 0.2705981 0.2705981 0.6532815"/>
<body name="arm_root"
pos="0 0 0"
quat="0.5 0.5 0.5 0.5">
<body name="scapula"
pos="0 0 0"
quat="0.63302222 0.13302222 0.75440651 0.11161889">
<geom type="mesh" mesh="Bones_Scapula" contype="0" conaffinity="0"/>
<inertial pos="-0.0019700000993907452 0.00070600002072751522 -0.00082900002598762512" mass="0.00030000001424923539" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
<site name="COM1"
pos="-0.0019700000993907452 0.00070600002072751522 -0.00082900002598762512"
rgba=".2 .8 .2 .5"
size="0.0002"/>
<body name="clavicle"
pos="-0.00186349 -0.00240113 0.00264621"
quat="0.99240380 -0.08682489 0.08682340 0.00760476">
<geom type="mesh" mesh="Bone_Segmentation_Segment_8" contype="0" conaffinity="0"/>
<inertial pos="0 0 0" mass="3.5299999581184238e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
<site name="COM6"
pos="0 0 0"
rgba=".2 .8 .2 .5"
size="0.0002"/>
</body>
<body name="humerus"
pos="-0.00526908 0.00709871 0.01138070"
quat="0.87214846 0.05125853 0.42527927 -0.23636239">
<!-- shoulder joints: add these, do not change humerus pose -->
<joint name="elv_angle"
type="hinge"
pos="0.00840090 0.00138800 0.01236983"
axis="-0.76529511 -0.11091370 0.63261453"
range="-28.64788976 157.56339366"
limited="true"/>
<joint name="shoulder_ext"
type="hinge"
pos="0.00840090 0.00138800 0.01236983"
axis="-0.36827993 0.88203501 -0.29079843"
range="-83.54085653 126.05071766"
limited="true"/>
<joint name="shoulder_rot"
type="hinge"
pos="0.00840090 0.00138800 0.01236983"
axis="0.52658517 0.45514852 0.71674785"
range="-57.29577951 28.64788976"
limited="true"/>
<geom type="mesh" mesh="Bone_Segmentation_Humerus" contype="0" conaffinity="0"/>
<inertial pos="0.0066999997943639755 0.00070000002374872565 0.011410000312328339" mass="0.00012589999823831022" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
<site name="COM2"
pos="0.0066999997943639755 0.00070000002374872565 0.011410000312328339"
rgba=".2 .8 .2 .5"
size="0.0005"/>
<body name="ulna"
pos="-0.00378201 0.00461677 0.00462321"
quat="0.92121983 0.24684012 0.29045952 -0.07782838">
<joint name="elbow_flex"
type="hinge"
pos="0.00320000 -0.00030000 0.00860000"
axis="0.00000000 -0.86602542 0.49999997"
range="-57.29577951 71.61972439"
limited="true"/>
<site name="jcenel"
pos="0.00320000 -0.00030000 0.00860000"
rgba=".5 .5 .2 .5"
size="0.0009"/>
<geom type="mesh" mesh="Bone_Segments_Ulna" contype="0" conaffinity="0"/>
<inertial pos="-0.00030000024707987905 0.0010000006295740604 0.0099000027403235435" mass="0.00071272498462349176" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
<site name="COM3"
pos="-0.00030000024707987905 0.0010000006295740604 0.0099000027403235435"
rgba=".2 .8 .2 .5"
size="0.0005"/>
<body name="radius"
pos="-0.00000326 -0.00041155 0.00012026"
quat="1.00000000 -0.00003490 0.00000000 -0.00000001">
<geom type="mesh" mesh="Bone_Segments_Radius" contype="0" conaffinity="0"/>
<inertial pos="-0.00030000001424923539 0.0013999998336657882 0.010300001129508018" mass="5.3100000513950363e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
<site name="COM5"
pos="-0.00030000001424923539 0.0013999998336657882 0.010300001129508018"
rgba=".2 .8 .2 .5"
size="0.0005"/>
<body name="hand"
pos="0.00249215 0.00414491 0.00156364"
quat="0.95125125 0.25488699 -0.09960050 -0.14224425">
<geom type="mesh" mesh="Bone_Segments_Hand" contype="0" conaffinity="0"/>
<inertial pos="-0.0048000002279877663 0.0019000000320374966 0.012000000104308128" mass="7.2599999839439988e-05" diaginertia="4.9999999999999998e-07 9.9999999999999995e-08 4.9999999999999998e-07"/>
<site name="COM4"
pos="-0.0048000002279877663 0.0019000000320374966 0.012000000104308128"
rgba=".2 .8 .2 .5"
size="0.0005"/>
<site
name="handm"
pos="-0.0048766345966886893 0.0025063881418005383 0.012287416048729322"
size="0.00025"
rgba="1 1 0 1"
/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
<tendon>
</tendon>
<actuator>
<motor joint="elv_angle" ctrlrange="-1 1" gear=".001"/>
<motor joint="shoulder_ext" ctrlrange="-1 1" gear=".001"/>
<motor joint="shoulder_rot" ctrlrange="-1 1" gear=".001"/>
<motor joint="elbow_flex" ctrlrange="-1 1" gear=".001"/>
</actuator>
<sensor/>
<keyframe>
<!-- qpos order = order of joints in model -->
<key name="default_pose" qpos="1.5690594131319469 0 0 0.94480200333927733"/>
</keyframe>
</mujoco>
|