50 lines
1.8 KiB
XML
50 lines
1.8 KiB
XML
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<mujoco model="planar point mass">
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<include file="./common/skybox.xml"/>
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<include file="./common/visual.xml"/>
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<include file="./common/materials.xml"/>
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<option timestep="0.02">
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<flag contact="disable"/>
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</option>
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<default>
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<joint type="hinge" axis="0 0 1" limited="true" range="-.29 .29" damping="1"/>
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<motor gear=".1" ctrlrange="-1 1" ctrllimited="true"/>
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</default>
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<worldbody>
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<light name="light" pos="0 0 1"/>
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<camera name="fixed" pos="0 0 .75" quat="1 0 0 0"/>
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<geom name="ground" type="plane" pos="0 0 0" size=".3 .3 .1" material="grid"/>
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<geom name="wall_x" type="plane" pos="-.3 0 .02" zaxis="1 0 0" size=".02 .3 .02" material="decoration"/>
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<geom name="wall_y" type="plane" pos="0 -.3 .02" zaxis="0 1 0" size=".3 .02 .02" material="decoration"/>
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<geom name="wall_neg_x" type="plane" pos=".3 0 .02" zaxis="-1 0 0" size=".02 .3 .02" material="decoration"/>
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<geom name="wall_neg_y" type="plane" pos="0 .3 .02" zaxis="0 -1 0" size=".3 .02 .02" material="decoration"/>
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<body name="pointmass" pos="0 0 .01">
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<camera name="cam0" pos="0 -0.3 0.3" xyaxes="1 0 0 0 0.7 0.7"/>
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<joint name="root_x" type="slide" pos="0 0 0" axis="1 0 0" />
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<joint name="root_y" type="slide" pos="0 0 0" axis="0 1 0" />
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<geom name="pointmass" type="sphere" size=".01" material="self" mass=".3"/>
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</body>
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<geom name="target" pos="0 0 .01" material="target" type="sphere" size=".015"/>
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</worldbody>
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<tendon>
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<fixed name="t1">
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<joint joint="root_x" coef="1"/>
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<joint joint="root_y" coef="0"/>
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</fixed>
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<fixed name="t2">
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<joint joint="root_x" coef="0"/>
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<joint joint="root_y" coef="1"/>
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</fixed>
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</tendon>
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<actuator>
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<motor name="t1" tendon="t1"/>
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<motor name="t2" tendon="t2"/>
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</actuator>
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</mujoco>
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