58 lines
2.5 KiB
XML
58 lines
2.5 KiB
XML
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<mujoco model="swimmer">
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<include file="./common/visual.xml"/>
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<include file="./common/skybox.xml"/>
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<include file="./common/materials.xml"/>
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<option timestep="0.002" density="3000">
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<flag contact="disable"/>
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</option>
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<default>
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<default class="swimmer">
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<joint type="hinge" pos="0 -.05 0" axis="0 0 1" limited="true" solreflimit=".05 1" solimplimit="0 .8 .1" armature="1e-6"/>
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<default class="inertial">
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<geom type="box" size=".001 .05 .01" rgba="0 0 0 0" mass=".01"/>
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</default>
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<default class="visual">
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<geom type="capsule" size=".01" fromto="0 -.05 0 0 .05 0" material="self" mass="0"/>
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</default>
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<site size=".01" rgba="0 0 0 0"/>
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</default>
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<default class="free">
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<joint limited="false" stiffness="0" armature="0"/>
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</default>
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<motor gear="5e-4" ctrllimited="true" ctrlrange="-1 1"/>
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</default>
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<worldbody>
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<geom name="ground" type="plane" size="2 2 0.1" material="grid"/>
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<body name="head" pos="0 0 .05" childclass="swimmer">
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<light name="light_1" diffuse=".8 .8 .8" pos="0 0 1.5"/>
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<geom name="head" type="ellipsoid" size=".02 .04 .017" pos="0 -.022 0" material="self" mass="0"/>
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<geom name="nose" type="sphere" pos="0 -.06 0" size=".004" material="effector" mass="0"/>
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<geom name="eyes" type="capsule" fromto="-.006 -.054 .005 .006 -.054 .005" size=".004" material="eye" mass="0"/>
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<camera name="tracking1" pos="0 -.2 .5" xyaxes="1 0 0 0 1 1" mode="trackcom" fovy="60"/>
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<camera name="tracking2" pos="-.9 .5 .15" xyaxes="0 -1 0 .3 0 1" mode="trackcom" fovy="60"/>
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<camera name="eyes" pos="0 -.058 .005" xyaxes="-1 0 0 0 0 1"/>
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<joint name="rootx" class="free" type="slide" axis="1 0 0" pos="0 -.05 0"/>
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<joint name="rooty" class="free" type="slide" axis="0 1 0" pos="0 -.05 0"/>
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<joint name="rootz" class="free" type="hinge" axis="0 0 1" pos="0 -.05 0"/>
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<geom name="inertial" class="inertial"/>
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<geom name="visual" class="visual"/>
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<site name="head"/>
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</body>
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<geom name="target" type="sphere" pos="1 1 .05" size=".1" material="target"/>
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<light name="target_light" diffuse="1 1 1" pos="1 1 1.5"/>
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</worldbody>
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<sensor>
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<framepos name="nose_pos" objtype="geom" objname="nose"/>
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<framepos name="target_pos" objtype="geom" objname="target"/>
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<framexaxis name="head_xaxis" objtype="xbody" objname="head"/>
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<frameyaxis name="head_yaxis" objtype="xbody" objname="head"/>
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<velocimeter name="head_vel" site="head"/>
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<gyro name="head_gyro" site="head"/>
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</sensor>
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</mujoco>
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