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MouseArmModel

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MouseArmModel / mujoco_model_torque.xml
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<?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>