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