xmls/tosser.xml (68 lines of code) (raw):
<!-- Author: vikash@openai.com-->
<mujoco model='tosser-v1.5'>
<compiler inertiafromgeom='auto' angle='radian'/>
<default>
<joint limited='true' damping='1' armature='0'/>
<geom contype='1' conaffinity='1' condim='3' rgba='0.8 0.6 .4 1'
margin="0.001" solref=".02 1" solimp=".8 .8 .01" material="geom"/>
<motor ctrlrange='-1 1' ctrllimited='true'/>
</default>
<option timestep='0.002' iterations="50" solver="PGS">
<flag energy="enable"/>
</option>
<visual>
<map fogstart="3" fogend="5" force="0.1" znear="0.1"/>
<quality shadowsize="2048"/>
<global offwidth="800" offheight="800"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" width="128" height="128" rgb1=".4 .6 .8"
rgb2="0 0 0"/>
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
width="512" height="512"/>
<material name='MatPlane' reflectance='0.5' texture="texplane" texrepeat="1 1" texuniform="true"/>
<material name='geom' texture="texgeom" texuniform="true"/>
</asset>
<worldbody>
<light directional='false' diffuse='.8 .8 .8' specular='0.3 0.3 0.3' pos='0 0 4.0' dir='0 -.15 -1'/>
<geom name='floor' pos='0 -1 0' size='1.5 3 .125' type='plane' material="MatPlane" condim='3'/>
<body name='wall' pos='0 0 0'>
<geom name='wall' pos='0 0 .5' size='.02 .5' type='capsule' rgba='.73 .4 .4 1'/>
<body name='hand' pos='0 0 0'>
<geom name='palm' type='capsule' size='.02' fromto='0 0 .7 0 -.1 .6'/>
<geom name='finger' type='capsule' size='.02' fromto='0 -.1 .6 0 -.15 .6'/>
<joint name='wr_js' type='slide' pos='0 0 .7' axis='0 0 1' range='-.6 .25' damping='10'/>
<joint name='wr_jr' type='hinge' pos='0 0 .7' axis='1 0 0' range='-1.57 0.8'/>
</body>
</body>
<body name='obj' pos='0 -.08 1'>
<!--<geom name='obj' type='box' size='.05 .05 0.05'/>-->
<!--<geom name='obj' type='sphere' size='.05'/>-->
<geom name='obj' type='capsule' size='.05 .075'/>
<joint name='ballz' type='slide' axis='0 0 1' limited='false' damping='.01'/>
<joint name='bally' type='slide' axis='0 1 0' limited='false' damping='.01'/>
<joint name='ballx' type='hinge' axis='1 0 0' limited='false' damping='.01'/>
</body>
<body name='basket1' pos='0 -1 0'>
<geom pos='0 -.1 .12' type='capsule' size='.02 .1' rgba='1 .4 .4 1' condim='1' euler='.2 0 0'/>
<geom pos='0 .1 .12' type='capsule' size='.02 .1' rgba='1 .4 .4 1' condim='1' euler='-.2 0 0'/>
<geom pos='0 0 .02' type='capsule' size='.02 .08' rgba='1 .4 .4 1' condim='1' euler='1.57 0 0'/>
<site name='t1' pos='0 0 .03' type='box' group='4' size='.02 .1 .02'/>
</body>
<body name='basket2' pos='0 -1.5 0'>
<geom pos='0 -.1 .12' type='capsule' size='.02 .1' rgba='.4 1 .4 1' condim='1' euler='.2 0 0'/>
<geom pos='0 .1 .12' type='capsule' size='.02 .1' rgba='.4 1 .4 1' condim='1' euler='-.2 0 0'/>
<geom pos='0 0 .02' type='capsule' size='.02 .08' rgba='.4 1 .4 1' condim='1' euler='1.57 0 0'/>
<site name='t2' pos='0 0 .03' type='box' group='4' size='.02 .1 .02'/>
</body>
</worldbody>
<actuator>
<motor name='a1' gear='35' joint='wr_js'/>
<motor name='a2' gear='35' joint='wr_jr' />
</actuator>
<sensor>
<jointpos name="Sjp_wr_js" joint="wr_js"/>
<jointpos name="Sjp_wr_jr" joint="wr_jr"/>
<touch name="s_t1" site="t1"/>
<touch name="s_t2" site="t2"/>
</sensor>
</mujoco>