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anki-3d-engine
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mjcf
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swimmer.xml

swimmer.xml 2.2 KB
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  1. <mujoco model="swimmer">
    2. 

  2.   <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
    3. 

  3.   <option collision="predefined" density="4000" integrator="RK4" timestep="0.01" viscosity="0.1"/>
    4. 

  4.   <default>
    5. 

  5.     <geom conaffinity="1" condim="1" contype="1" material="geom" rgba="0.8 0.6 .4 1"/>
    6. 

  6.     <joint armature='0.1'  />
    7. 

  7.   </default>
    8. 

  8.   <asset>
    9. 

  9.     <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
    10. 

  10.     <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"/>
    11. 

  11.     <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
    12. 

  12.     <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="30 30" texture="texplane"/>
    13. 

  13.     <material name="geom" texture="texgeom" texuniform="true"/>
    14. 

  14.   </asset>
    15. 

  15.   <worldbody>
    16. 

  16.     <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"/>
    17. 

  17.     <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 -0.1" rgba="0.8 0.9 0.8 1" size="40 40 0.1" type="plane"/>
    18. 

  18.     <!--  ================= SWIMMER ================= /-->
    19. 

  19.     <body name="torso" pos="0 0 0">
    20. 

  20.       <geom density="1000" fromto="1.5 0 0 0.5 0 0" size="0.1" type="capsule"/>
    21. 

  21.       <joint axis="1 0 0" name="slider1" pos="0 0 0" type="slide"/>
    22. 

  22.       <joint axis="0 1 0" name="slider2" pos="0 0 0" type="slide"/>
    23. 

  23.       <joint axis="0 0 1" name="rot" pos="0 0 0" type="hinge"/>
    24. 

  24.       <body name="mid" pos="0.5 0 0">
    25. 

  25.         <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
    26. 

  26.         <joint axis="0 0 1" limited="true" name="rot2" pos="0 0 0" range="-100 100" type="hinge"/>
    27. 

  27.         <body name="back" pos="-1 0 0">
    28. 

  28.           <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
    29. 

  29.           <joint axis="0 0 1" limited="true" name="rot3" pos="0 0 0" range="-100 100" type="hinge"/>
    30. 

  30.         </body>
    31. 

  31.       </body>
    32. 

  32.     </body>
    33. 

  33.   </worldbody>
    34. 

  34.   <actuator>
    35. 

  35.     <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot2"/>
    36. 

  36.     <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot3"/>
    37. 

  37.   </actuator>
    38. 

  38. </mujoco>
    39.