33 lines
1.9 KiB
XML
Executable File
33 lines
1.9 KiB
XML
Executable File
<mujoco>
|
|
<compiler inertiafromgeom="true" angle="degree" coordinate="local" />
|
|
<option timestep="0.02" integrator="RK4" />
|
|
<default>
|
|
<joint limited="false" armature="0" damping="0" />
|
|
<geom condim="3" conaffinity="0" margin="0" friction="1.0 0.5 0.5"
|
|
solimp="0.99 0.999 0.001" rgba="0.8 0.6 0.4 1" density="100" />
|
|
</default>
|
|
<asset>
|
|
<texture type="skybox" builtin="gradient" width="100" height="100" rgb1="1 1 1" 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="0 0 0" rgb2="0.8 0.8 0.8" width="100" height="100" />
|
|
<material name="MatPlane" texture="texplane" shininess="1" texrepeat="30 30" specular="1" reflectance="0.5" />
|
|
<material name="geom" texture="texgeom" texuniform="true" />
|
|
</asset>
|
|
<worldbody>
|
|
<light directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular=".1 .1 .1" pos="0 0 1.3" dir="-0 0 -1.3" />
|
|
<geom name="floor" material="MatPlane" pos="0 0 0" size="40 40 40" type="plane" conaffinity="1" rgba="0.8 0.9 0.8 1" condim="3" />
|
|
<body name="torso" pos="0 0 0">
|
|
<geom name="pointbody" type="sphere" size="0.5" pos="0 0 0.5" />
|
|
<geom name="pointarrow" type="box" size="0.5 0.1 0.1" pos="0.6 0 0.5" />
|
|
<joint name="ballx" type="slide" axis="1 0 0" pos="0 0 0" />
|
|
<joint name="bally" type="slide" axis="0 1 0" pos="0 0 0" />
|
|
<joint name="rot" type="hinge" axis="0 0 1" pos="0 0 0" limited="false" />
|
|
</body>
|
|
</worldbody>
|
|
<actuator>
|
|
<!-- Those are just dummy actuators for providing ranges -->
|
|
<motor joint="ballx" ctrlrange="-1 1" ctrllimited="true" />
|
|
<motor joint="rot" ctrlrange="-0.25 0.25" ctrllimited="true" />
|
|
</actuator>
|
|
</mujoco>
|