quickstart-mujoco-1-4-MJCF analysis for two example
1. MuJoCo Lec 1: Working with XML files
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<mujoco>
<compiler angle="radian"/>
<visual>
<headlight ambient=".3 .3 .3" />
</visual>
<asset>
<material name="white" rgba="1 1 1 1"/>
</asset>
<option gravity="0 0 -9.8">
<!-- <flag gravity="enable"/> -->
</option>
<worldbody>
<light diffuse=".3 .3 .3" pos="0 0 3" dir="0 0 -1"/>
<geom type="plane" size="1 1 .1" rgba="0 .9 0 1"/>
<body pos=".2 0 2.3">
<joint type="free"/>
<inertial pos="0 0 0" mass="1" diaginertia=".01 .01 .01"/>
<geom type="sphere" size=".1" rgba="0 0 1 1"/>
</body>
<body pos="0 0 2" euler="0 -1.57 0">
<joint type="free"/>
<inertial pos="0 0 0" mass="1" diaginertia=".01 .01 .01"/>
<geom type="box" size=".1 .2 .3" rgba=".9 0 0 1"/>
</body>
<body pos="0 0 1" euler="0 0 0">
<joint type="free"/>
<inertial pos="0 0 0" mass="1" diaginertia=".01 .01 .01"/>
<geom type="box" size=".1 .2 .3" material="white"/>
</body>
</worldbody>
</mujoco>
2. MJCF analysis for Panda
robosuite/models/assets/robots/panda/robot.xml 
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<mujoco model="panda">
<actuator>
<!-- Physical limits of the actuator. -->
<motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="joint1" name="torq_j1"/>
<motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="joint2" name="torq_j2"/>
<motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="joint3" name="torq_j3"/>
<motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="joint4" name="torq_j4"/>
<motor ctrllimited="true" ctrlrange="-80.0 80.0" joint="joint5" name="torq_j5"/>
<motor ctrllimited="true" ctrlrange="-12.0 12.0" joint="joint6" name="torq_j6"/>
<motor ctrllimited="true" ctrlrange="-12.0 12.0" joint="joint7" name="torq_j7"/>
</actuator>
<asset>
<mesh name="link0" file="meshes/link0.stl" />
<mesh name="link1" file="meshes/link1.stl" />
<mesh name="link2" file="meshes/link2.stl" />
<mesh name="link3" file="meshes/link3.stl" />
<mesh name="link4" file="meshes/link4.stl" />
<mesh name="link5" file="meshes/link5.stl" />
<mesh name="link6" file="meshes/link6.stl" />
<mesh name="link7" file="meshes/link7.stl" />
<mesh name="link0_vis" file="meshes/link0_vis.stl" />
<mesh name="link1_vis" file="meshes/link1_vis.stl" />
<mesh name="link2_vis" file="meshes/link2_vis.stl" />
<mesh name="link3_vis" file="meshes/link3_vis.stl" />
<mesh name="link4_vis" file="meshes/link4_vis.stl" />
<mesh name="link5_vis" file="meshes/link5_vis.stl" />
<mesh name="link6_vis" file="meshes/link6_vis.stl" />
<mesh name="link7_vis" file="meshes/link7_vis.stl" />
</asset>
<worldbody>
<body name="base" pos="0 0 0">
<!-- robot view -->
<camera mode="fixed" name="robotview" pos="1.0 0 0.4" quat="0.653 0.271 0.271 0.653"/>
<inertial diaginertia="0 0 0" mass="0" pos="0 0 0"/>
<!-- mount attached here -->
<body name="link0" pos="0 0 0">
<inertial pos="0 0 0.05" mass="4" diaginertia="0.4 0.4 0.4" />
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link0_vis" name="link0_visual" rgba="1 1 1 1" />
<geom type="mesh" group="0" mesh="link0" name="link0_collision"/>
<body name="link1" pos="0 0 0.333">
<inertial pos="0 0 -0.07" mass="3" diaginertia="0.3 0.3 0.3" />
<joint name="joint1" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link1_vis" name="link1_visual" rgba="1 1 1 1" />
<geom type="mesh" group="0" mesh="link1" name="link1_collision"/>
<body name="link2" pos="0 0 0" quat="0.707107 -0.707107 0 0">
<inertial pos="0 -0.1 0" mass="3" diaginertia="0.3 0.3 0.3" />
<joint name="joint2" pos="0 0 0" axis="0 0 1" limited="true" range="-1.7628 1.7628" damping="0.1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link2_vis" name="link2_visual" rgba="1 1 1 1" />
<geom type="mesh" group="0" mesh="link2" name="link2_collision"/>
<body name="link3" pos="0 -0.316 0" quat="0.707107 0.707107 0 0">
<inertial pos="0.04 0 -0.05" mass="2" diaginertia="0.2 0.2 0.2" />
<joint name="joint3" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link3_vis" name="link3_visual" rgba="1 1 1 1" />
<geom type="mesh" group="0" mesh="link3" name="link3_collision"/>
<body name="link4" pos="0.0825 0 0" quat="0.707107 0.707107 0 0">
<inertial pos="-0.04 0.05 0" mass="2" diaginertia="0.2 0.2 0.2" />
<joint name="joint4" pos="0 0 0" axis="0 0 1" limited="true" range="-3.0718 -0.0698" damping="0.1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link4_vis" name="link4_visual" rgba="1 1 1 1" />
<geom type="mesh" group="0" mesh="link4" name="link4_collision"/>
<body name="link5" pos="-0.0825 0.384 0" quat="0.707107 -0.707107 0 0">
<inertial pos="0 0 -0.15" mass="2" diaginertia="0.2 0.2 0.2" />
<joint name="joint5" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.1"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link5_vis" name="link5_visual" rgba="1 1 1 1" />
<geom type="mesh" group="0" mesh="link5" name="link5_collision"/>
<body name="link6" pos="0 0 0" quat="0.707107 0.707107 0 0">
<inertial pos="0.06 0 0" mass="1.5" diaginertia="0.1 0.1 0.1" />
<joint name="joint6" pos="0 0 0" axis="0 0 1" limited="true" range="-0.0175 3.7525" damping="0.01"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link6_vis" name="link6_visual" rgba="1 1 1 1" />
<geom type="mesh" group="0" mesh="link6" name="link6_collision"/>
<body name="link7" pos="0.088 0 0" quat="0.707107 0.707107 0 0">
<inertial pos="0 0 0.08" mass="0.5" diaginertia="0.05 0.05 0.05" />
<joint name="joint7" pos="0 0 0" axis="0 0 1" limited="true" range="-2.8973 2.8973" damping="0.01"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" mesh="link7_vis" name="link7_visual" rgba="1. 1. 1. 1." />
<geom type="mesh" group="0" mesh="link7" name="link7_collision"/>
<!-- rotate 135deg to align physically to the tool-->
<body name="right_hand" pos="0 0 0.1065" quat="0.924 0 0 -0.383">
<inertial pos="0 0 0" mass="0.5" diaginertia="0.05 0.05 0.05" />
<!-- This camera points out from the eef. -->
<camera mode="fixed" name="eye_in_hand" pos="0.05 0 0" quat="0 0.707108 0.707108 0" fovy="75"/>
<!-- to add gripper -->
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</worldbody>
</mujoco>
robosuite/models/assets/base.xml:
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<!-- This is the base xml for all physics simulations. Set global configs here. -->
<mujoco model="base">
<compiler angle="radian" meshdir="meshes/" inertiagrouprange="0 0" autolimits="true"/>
<option impratio="20" cone="elliptic" density="1.2" viscosity="0.00002"/>
<size nconmax="5000" njmax="5000"/>
<asset>
</asset>
<visual>
<map znear="0.001" />
</visual>
<actuator>
</actuator>
<worldbody>
</worldbody>
<equality>
</equality>
</mujoco>
This post is licensed under CC BY 4.0 by the author.