41 lines
1.4 KiB
XML
41 lines
1.4 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<mujoco model="motor_sysid">
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<compiler angle="radian" autolimits="true"/>
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<option timestep="0.002" integrator="Euler"/>
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<worldbody>
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<light pos="0 0 1" dir="0 0 -1"/>
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<!-- Fixed base (gearbox housing) -->
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<body name="base" pos="0 0 0.15">
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<geom type="cylinder" size="0.04 0.06" mass="0.921"
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rgba="0.3 0.3 0.3 1" contype="0" conaffinity="0"/>
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<!-- Arm: rotates around motor_joint (z-axis) -->
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<body name="arm" pos="0 0 0">
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<joint name="motor_joint" type="hinge" axis="0 0 1"
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range="-1.5708 1.5708"
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damping="0.001" armature="0.0001" frictionloss="0.03"/>
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<!-- Rotor disk: mass is tunable by the optimizer -->
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<geom name="rotor_disk" type="cylinder" size="0.008 0.004"
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mass="0.012" pos="0 0 0" rgba="0.6 0.6 0.6 1"
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contype="0" conaffinity="0"/>
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<!-- Arm load: lightweight arm attached to motor shaft -->
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<geom name="arm_load" type="capsule" size="0.004"
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fromto="0 0 0 -0.014 0.002 0.016"
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mass="0.021" rgba="0.8 0.3 0.1 1"
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contype="0" conaffinity="0"/>
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</body>
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</body>
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</worldbody>
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<actuator>
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<general name="motor" joint="motor_joint"
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gear="0.064"
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ctrllimited="true" ctrlrange="-1 1"
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dyntype="filter" dynprm="0.03"/>
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</actuator>
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</mujoco>
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