32 lines
1.8 KiB
XML
32 lines
1.8 KiB
XML
<mujoco>
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<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
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<option integrator="RK4" timestep="0.02"/>
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<default>
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<joint armature="0" damping="0" limited="false"/>
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<geom conaffinity="0" condim="3" density="100" friction="1 0.5 0.5" margin="0" rgba="0.8 0.6 0.4 1"/>
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</default>
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<asset>
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<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
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<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
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<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
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<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="30 30" texture="texplane"/>
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<material name="geom" texture="texgeom" texuniform="true"/>
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</asset>
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<worldbody>
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<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
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<geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
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<body name="torso" pos="0 0 0">
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<geom name="pointbody" pos="0 0 0.5" size="0.5" type="sphere"/>
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<geom name="pointarrow" pos="0.6 0 0.5" size="0.5 0.1 0.1" type="box"/>
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<joint axis="1 0 0" name="ballx" pos="0 0 0" type="slide"/>
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<joint axis="0 1 0" name="bally" pos="0 0 0" type="slide"/>
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<joint axis="0 0 1" limited="false" name="rot" pos="0 0 0" type="hinge"/>
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</body>
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</worldbody>
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<actuator>
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<!-- Those are just dummy actuators for providing ranges -->
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<motor ctrllimited="true" ctrlrange="-1 1" joint="ballx"/>
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<motor ctrllimited="true" ctrlrange="-0.25 0.25" joint="rot"/>
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</actuator>
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</mujoco>
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