First step towards a MuJoCo MJCF importer for Bullet. It can load the humanoid.xml, ant.xml and some other OpenAI GYM asset files. Not all fields are converted, so it is work-in-progress. This is useful for Reinforcement Learning experiments, and would also help integration with DeepMind Lab.
This commit is contained in:
Erwin Coumans
80
data/mjcf/ant.xml
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80
data/mjcf/ant.xml
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<mujoco model="ant">
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<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
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<option integrator="RK4" timestep="0.01"/>
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<custom>
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<numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
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</custom>
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<default>
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<joint armature="1" damping="1" limited="true"/>
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<geom conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" 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="60 60" 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 0.75">
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<geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
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<joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
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<body name="front_left_leg" pos="0 0 0">
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<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule"/>
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<body name="aux_1" pos="0.2 0.2 0">
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<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
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<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule"/>
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<body pos="0.2 0.2 0">
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<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
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<geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule"/>
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</body>
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</body>
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</body>
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<body name="front_right_leg" pos="0 0 0">
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<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
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<body name="aux_2" pos="-0.2 0.2 0">
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<joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
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<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
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<body pos="-0.2 0.2 0">
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<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
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<geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
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</body>
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</body>
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</body>
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<body name="back_leg" pos="0 0 0">
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<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
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<body name="aux_3" pos="-0.2 -0.2 0">
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<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
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<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
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<body pos="-0.2 -0.2 0">
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<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
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<geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
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</body>
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</body>
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</body>
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<body name="right_back_leg" pos="0 0 0">
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<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule"/>
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<body name="aux_4" pos="0.2 -0.2 0">
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<joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-30 30" type="hinge"/>
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<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule"/>
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<body pos="0.2 -0.2 0">
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<joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 70" type="hinge"/>
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<geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule"/>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<actuator>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
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</actuator>
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</mujoco>
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13
data/mjcf/capsule.xml
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13
data/mjcf/capsule.xml
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<!--
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MuJoCo MJCF test file. See http://mujoco.org/book/index.html
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-->
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<mujoco>
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<worldbody>
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<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
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<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
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<body pos="0 0 1">
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<joint type="free"/>
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<geom fromto="0.0 0.0 0.0 0. 0.2 0.0" name="aux_1_geom" size="0.05" type="capsule"/>
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</body>
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</worldbody>
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</mujoco>
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13
data/mjcf/hello_mjcf.xml
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13
data/mjcf/hello_mjcf.xml
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@@ -0,0 +1,13 @@
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<!--
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MuJoCo MJCF test file. See http://mujoco.org/book/index.html
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-->
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<mujoco>
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<worldbody>
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<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
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<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
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<body pos="0 0 1">
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<joint type="free"/>
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<geom type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
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</body>
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</worldbody>
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</mujoco>
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44
data/mjcf/hopper.xml
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44
data/mjcf/hopper.xml
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<mujoco model="hopper">
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<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
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<default>
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<joint armature="1" damping="1" />
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<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
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<motor ctrllimited="true" ctrlrange="-.4 .4"/>
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</default>
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<option integrator="RK4" timestep="0.002"/>
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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" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 .125" type="plane" material="MatPlane"/>
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<body name="torso" pos="0 0 1.25">
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<joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
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<joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
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<joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/>
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<geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
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<body name="thigh" pos="0 0 1.05">
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<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
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<geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
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<body name="leg" pos="0 0 0.35">
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<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
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<geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
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<body name="foot" pos="0.13/2 0 0.1">
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<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
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<geom friction="2.0" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
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</body>
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</body>
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</body>
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</body>
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</worldbody>
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<actuator>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
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<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
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</actuator>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0"
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width="100" height="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="60 60" texture="texplane"/>
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<material name="geom" texture="texgeom" texuniform="true"/>
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</asset>
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</mujoco>
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130
data/mjcf/humanoid.xml
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130
data/mjcf/humanoid.xml
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@@ -0,0 +1,130 @@
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<mujoco model='humanoid'>
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<compiler inertiafromgeom='true' angle='degree'/>
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<default>
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<joint limited='true' damping='1' armature='0' />
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<geom contype='1' conaffinity='1' condim='1' rgba='0.8 0.6 .4 1'
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margin="0.001" solref=".02 1" solimp=".8 .8 .01" material="geom"/>
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<motor ctrlrange='-.4 .4' ctrllimited='true'/>
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</default>
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<option timestep='0.002' iterations="50" solver="PGS">
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<flag energy="enable"/>
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</option>
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<visual>
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<map fogstart="3" fogend="5" force="0.1"/>
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<quality shadowsize="2048"/>
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" width="100" height="100" rgb1=".4 .6 .8"
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rgb2="0 0 0"/>
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<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
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rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
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<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
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width="100" height="100"/>
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<material name='MatPlane' reflectance='0.5' texture="texplane" texrepeat="1 1" texuniform="true"/>
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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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<geom name='floor' pos='0 0 0' size='10 10 0.125' type='plane' material="MatPlane" condim='3'/>
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<body name='torso' pos='0 0 1.4'>
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<light mode='trackcom' directional='false' diffuse='.8 .8 .8' specular='0.3 0.3 0.3' pos='0 0 4.0' dir='0 0 -1'/>
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<geom name='torso1' type='capsule' fromto='0 -.07 0 0 .07 0' size='0.07' />
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<geom name='head' type='sphere' pos='0 0 .19' size='.09'/>
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<geom name='uwaist' type='capsule' fromto='-.01 -.06 -.12 -.01 .06 -.12' size='0.06'/>
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<body name='lwaist' pos='-.01 0 -0.260' quat='1.000 0 -0.002 0' >
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<geom name='lwaist' type='capsule' fromto='0 -.06 0 0 .06 0' size='0.06' />
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<joint name='abdomen_z' type='hinge' pos='0 0 0.065' axis='0 0 1' range='-45 45' damping='5' stiffness='20' armature='0.02' />
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<joint name='abdomen_y' type='hinge' pos='0 0 0.065' axis='0 1 0' range='-75 30' damping='5' stiffness='10' armature='0.02' />
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<body name='pelvis' pos='0 0 -0.165' quat='1.000 0 -0.002 0' >
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<joint name='abdomen_x' type='hinge' pos='0 0 0.1' axis='1 0 0' range='-35 35' damping='5' stiffness='10' armature='0.02' />
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<geom name='butt' type='capsule' fromto='-.02 -.07 0 -.02 .07 0' size='0.09' />
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<body name='right_thigh' pos='0 -0.1 -0.04' >
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<joint name='right_hip_x' type='hinge' pos='0 0 0' axis='1 0 0' range='-25 5' damping='5' stiffness='10' armature='0.01' />
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<joint name='right_hip_z' type='hinge' pos='0 0 0' axis='0 0 1' range='-60 35' damping='5' stiffness='10' armature='0.01' />
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<joint name='right_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-110 20' damping='5' stiffness='20' armature='0.0080' />
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<geom name='right_thigh1' type='capsule' fromto='0 0 0 0 0.01 -.34' size='0.06' />
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<body name='right_shin' pos='0 0.01 -0.403' >
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<joint name='right_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' armature='0.0060' />
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<geom name='right_shin1' type='capsule' fromto='0 0 0 0 0 -.3' size='0.049' />
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<body name='right_foot' pos='0 0 -.39' >
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<joint name='right_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0' range='-50 50' stiffness='4' armature='0.0008' />
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<joint name='right_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50' stiffness='1' armature='0.0006' />
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||||
<geom name='right_foot_cap1' type='capsule' fromto='-.07 -0.02 0 0.14 -0.04 0' size='0.027' />
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||||
<geom name='right_foot_cap2' type='capsule' fromto='-.07 0 0 0.14 0.02 0' size='0.027' />
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</body>
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</body>
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||||
</body>
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||||
<body name='left_thigh' pos='0 0.1 -0.04' >
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||||
<joint name='left_hip_x' type='hinge' pos='0 0 0' axis='-1 0 0' range='-25 5' damping='5' stiffness='10' armature='0.01' />
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||||
<joint name='left_hip_z' type='hinge' pos='0 0 0' axis='0 0 -1' range='-60 35' damping='5' stiffness='10' armature='0.01' />
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<joint name='left_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-120 20' damping='5' stiffness='20' armature='0.01' />
|
||||
<geom name='left_thigh1' type='capsule' fromto='0 0 0 0 -0.01 -.34' size='0.06' />
|
||||
<body name='left_shin' pos='0 -0.01 -0.403' >
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||||
<joint name='left_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' stiffness='1' armature='0.0060' />
|
||||
<geom name='left_shin1' type='capsule' fromto='0 0 0 0 0 -.3' size='0.049' />
|
||||
<body name='left_foot' pos='0 0 -.39' >
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||||
<joint name='left_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0' range='-50 50' stiffness='4' armature='0.0008' />
|
||||
<joint name='left_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50' stiffness='1' armature='0.0006' />
|
||||
<geom name='left_foot_cap1' type='capsule' fromto='-.07 0.02 0 0.14 0.04 0' size='0.027' />
|
||||
<geom name='left_foot_cap2' type='capsule' fromto='-.07 0 0 0.14 -0.02 0' size='0.027' />
|
||||
</body>
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||||
</body>
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||||
</body>
|
||||
</body>
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||||
</body>
|
||||
<body name='right_upper_arm' pos='0 -0.17 0.06' >
|
||||
<joint name='right_shoulder1' type='hinge' pos='0 0 0' axis='2 1 1' range='-85 60' stiffness='1' armature='0.0068' />
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||||
<joint name='right_shoulder2' type='hinge' pos='0 0 0' axis='0 -1 1' range='-85 60' stiffness='1' armature='0.0051' />
|
||||
<geom name='right_uarm1' type='capsule' fromto='0 0 0 .16 -.16 -.16' size='0.04 0.16' />
|
||||
<body name='right_lower_arm' pos='.18 -.18 -.18' >
|
||||
<joint name='right_elbow' type='hinge' pos='0 0 0' axis='0 -1 1' range='-90 50' stiffness='0' armature='0.0028' />
|
||||
<geom name='right_larm' type='capsule' fromto='0.01 0.01 0.01 .17 .17 .17' size='0.031' />
|
||||
<geom name='right_hand' type='sphere' pos='.18 .18 .18' size='0.04'/>
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||||
</body>
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||||
</body>
|
||||
<body name='left_upper_arm' pos='0 0.17 0.06' >
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||||
<joint name='left_shoulder1' type='hinge' pos='0 0 0' axis='2 -1 1' range='-60 85' stiffness='1' armature='0.0068' />
|
||||
<joint name='left_shoulder2' type='hinge' pos='0 0 0' axis='0 1 1' range='-60 85' stiffness='1' armature='0.0051' />
|
||||
<geom name='left_uarm1' type='capsule' fromto='0 0 0 .16 .16 -.16' size='0.04 0.16' />
|
||||
<body name='left_lower_arm' pos='.18 .18 -.18' >
|
||||
<joint name='left_elbow' type='hinge' pos='0 0 0' axis='0 -1 -1' range='-90 50' stiffness='0' armature='0.0028' />
|
||||
<geom name='left_larm' type='capsule' fromto='0.01 -0.01 0.01 .17 -.17 .17' size='0.031' />
|
||||
<geom name='left_hand' type='sphere' pos='.18 -.18 .18' size='0.04'/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name='abdomen_y' gear='200' joint='abdomen_y' />
|
||||
<motor name='abdomen_z' gear='200' joint='abdomen_z' />
|
||||
<motor name='abdomen_x' gear='200' joint='abdomen_x' />
|
||||
<motor name='right_hip_x' gear='200' joint='right_hip_x' />
|
||||
<motor name='right_hip_z' gear='200' joint='right_hip_z' />
|
||||
<motor name='right_hip_y' gear='600' joint='right_hip_y' />
|
||||
<motor name='right_knee' gear='400' joint='right_knee' />
|
||||
<motor name='right_ankle_x' gear='100' joint='right_ankle_x' />
|
||||
<motor name='right_ankle_y' gear='100' joint='right_ankle_y' />
|
||||
<motor name='left_hip_x' gear='200' joint='left_hip_x' />
|
||||
<motor name='left_hip_z' gear='200' joint='left_hip_z' />
|
||||
<motor name='left_hip_y' gear='600' joint='left_hip_y' />
|
||||
<motor name='left_knee' gear='400' joint='left_knee' />
|
||||
<motor name='left_ankle_x' gear='100' joint='left_ankle_x' />
|
||||
<motor name='left_ankle_y' gear='100' joint='left_ankle_y' />
|
||||
<motor name='right_shoulder1' gear='100' joint='right_shoulder1' />
|
||||
<motor name='right_shoulder2' gear='100' joint='right_shoulder2' />
|
||||
<motor name='right_elbow' gear='200' joint='right_elbow' />
|
||||
<motor name='left_shoulder1' gear='100' joint='left_shoulder1' />
|
||||
<motor name='left_shoulder2' gear='100' joint='left_shoulder2' />
|
||||
<motor name='left_elbow' gear='200' joint='left_elbow' />
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
39
data/mjcf/reacher.xml
Normal file
39
data/mjcf/reacher.xml
Normal file
@@ -0,0 +1,39 @@
|
||||
<mujoco model="reacher">
|
||||
<compiler angle="radian" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
|
||||
</default>
|
||||
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/>
|
||||
<worldbody>
|
||||
<!-- Arena -->
|
||||
<geom conaffinity="0" contype="0" name="ground" pos="0 0 0" rgba="0.9 0.9 0.9 1" size="1 1 10" type="plane"/>
|
||||
<geom conaffinity="0" fromto="-.3 -.3 .01 .3 -.3 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<geom conaffinity="0" fromto=" .3 -.3 .01 .3 .3 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<geom conaffinity="0" fromto="-.3 .3 .01 .3 .3 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<geom conaffinity="0" fromto="-.3 -.3 .01 -.3 .3 .01" name="sideW" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<!-- Arm -->
|
||||
<geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/>
|
||||
<body name="body0" pos="0 0 .01">
|
||||
<geom fromto="0 0 0 0.1 0 0" name="link0" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
|
||||
<joint axis="0 0 1" limited="false" name="joint0" pos="0 0 0" type="hinge"/>
|
||||
<body name="body1" pos="0.1 0 0">
|
||||
<joint axis="0 0 1" limited="true" name="joint1" pos="0 0 0" range="-3.0 3.0" type="hinge"/>
|
||||
<geom fromto="0 0 0 0.1 0 0" name="link1" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
|
||||
<body name="fingertip" pos="0.11 0 0">
|
||||
<geom contype="0" name="fingertip" pos="0 0 0" rgba="0.0 0.8 0.6 1" size=".01" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<!-- Target -->
|
||||
<body name="target" pos=".1 -.1 .01">
|
||||
<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" ref=".1" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" ref="-.1" stiffness="0" type="slide"/>
|
||||
<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
38
data/mjcf/swimmer.xml
Normal file
38
data/mjcf/swimmer.xml
Normal file
@@ -0,0 +1,38 @@
|
||||
<mujoco model="swimmer">
|
||||
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
|
||||
<option collision="predefined" density="4000" integrator="RK4" timestep="0.01" viscosity="0.1"/>
|
||||
<default>
|
||||
<geom conaffinity="1" condim="1" contype="1" material="geom" rgba="0.8 0.6 .4 1"/>
|
||||
<joint armature='0.1' />
|
||||
</default>
|
||||
<asset>
|
||||
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
|
||||
<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"/>
|
||||
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
|
||||
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="30 30" texture="texplane"/>
|
||||
<material name="geom" texture="texgeom" texuniform="true"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<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"/>
|
||||
<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"/>
|
||||
<!-- ================= SWIMMER ================= /-->
|
||||
<body name="torso" pos="0 0 0">
|
||||
<geom density="1000" fromto="1.5 0 0 0.5 0 0" size="0.1" type="capsule"/>
|
||||
<joint axis="1 0 0" name="slider1" pos="0 0 0" type="slide"/>
|
||||
<joint axis="0 1 0" name="slider2" pos="0 0 0" type="slide"/>
|
||||
<joint axis="0 0 1" name="rot" pos="0 0 0" type="hinge"/>
|
||||
<body name="mid" pos="0.5 0 0">
|
||||
<geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
|
||||
<joint axis="0 0 1" limited="true" name="rot2" pos="0 0 0" range="-100 100" type="hinge"/>
|
||||
<body name="back" pos="-1 0 0">
|
||||
<geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
|
||||
<joint axis="0 0 1" limited="true" name="rot3" pos="0 0 0" range="-100 100" type="hinge"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot2"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot3"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
Reference in New Issue
Block a user