Spaces:
Running on Zero
Running on Zero
File size: 4,419 Bytes
23a59ea | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 | <mujoco model="fish">
<include file="./common/visual.xml"/>
<include file="./common/materials.xml"/>
<asset>
<texture name="skybox" type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0" width="800" height="800" mark="random" markrgb="1 1 1"/>
</asset>
<option timestep="0.004" density="5000">
<flag gravity="disable" constraint="disable"/>
</option>
<default>
<general ctrllimited="true"/>
<default class="fish">
<joint type="hinge" limited="false" range="-60 60" damping="2e-5" solreflimit=".1 1" solimplimit="0 .8 .1"/>
<geom material="self"/>
</default>
<default class="wall">
<geom type="box" material="self"/>
</default>
</default>
<worldbody>
<camera name="tracking_top" pos="0 0 1" xyaxes="1 0 0 0 1 0" mode="trackcom"/>
<camera name="tracking_x" pos="-.3 0 .2" xyaxes="0 -1 0 0.342 0 0.940" fovy="60" mode="trackcom"/>
<camera name="tracking_y" pos="0 -.3 .2" xyaxes="1 0 0 0 0.342 0.940" fovy="60" mode="trackcom"/>
<camera name="fixed_top" pos="0 0 5.5" fovy="10"/>
<geom name="ground" type="plane" size=".5 .5 .1" material="grid"/>
<geom name="wall0" class="wall" pos="-.15 -.15 .1" size=".05 .05 .1"/>
<geom name="wall1" class="wall" pos=".15 -.15 .1" size=".05 .05 .1"/>
<geom name="wall2" class="wall" pos=".15 .15 .1" size=".05 .05 .1"/>
<geom name="wall3" class="wall" pos="-.15 .15 .1" size=".05 .05 .1"/>
<geom name="target" type="sphere" pos="0 .4 .1" size=".04" material="target"/>
<body name="torso" pos="0 0 .1" childclass="fish">
<light name="light" diffuse=".6 .6 .6" pos="0 0 0.5" dir="0 0 -1" specular=".3 .3 .3" mode="track"/>
<joint name="root" type="free" damping="0" limited="false"/>
<site name="torso" size=".01" rgba="0 0 0 0"/>
<geom name="eye" type="ellipsoid" pos="0 .055 .015" size=".008 .012 .008" euler="-10 0 0" material="eye" mass="0"/>
<camera name="eye" pos="0 .06 .02" xyaxes="1 0 0 0 0 1"/>
<geom name="mouth" type="capsule" fromto="0 .079 0 0 .07 0" size=".005" material="effector" mass="0"/>
<geom name="lower_mouth" type="capsule" fromto="0 .079 -.004 0 .07 -.003" size=".0045" material="effector" mass="0"/>
<geom name="torso" type="ellipsoid" size=".01 .08 .04" mass="0"/>
<geom name="back_fin" type="ellipsoid" size=".001 .03 .015" pos="0 -.03 .03" material="effector" mass="0"/>
<geom name="torso_massive" type="box" size=".002 .06 .03" group="4"/>
<body name="tail1" pos="0 -.09 0">
<joint name="tail1" axis="0 0 1" pos="0 .01 0"/>
<joint name="tail_twist" axis="0 1 0" pos="0 .01 0" range="-30 30"/>
<geom name="tail1" type="ellipsoid" size=".001 .008 .016"/>
<body name="tail2" pos="0 -.028 0">
<joint name="tail2" axis="0 0 1" pos="0 .02 0" stiffness="8e-5"/>
<geom name="tail2" type="ellipsoid" size=".001 .018 .035"/>
</body>
</body>
<body name="finright" pos=".01 0 0">
<joint name="finright_roll" axis="0 1 0"/>
<joint name="finright_pitch" axis="1 0 0" pos="0 .005 0"/>
<geom name="finright" type="ellipsoid" pos=".015 0 0" size=".02 .015 .001" />
</body>
<body name="finleft" pos="-.01 0 0">
<joint name="finleft_roll" axis="0 1 0"/>
<joint name="finleft_pitch" axis="1 0 0" pos="0 .005 0"/>
<geom name="finleft" type="ellipsoid" pos="-.015 0 0" size=".02 .015 .001"/>
</body>
</body>
</worldbody>
<tendon>
<fixed name="fins_flap">
<joint joint="finleft_roll" coef="-.5"/>
<joint joint="finright_roll" coef=".5"/>
</fixed>
<fixed name="fins_sym" stiffness="1e-4">
<joint joint="finleft_roll" coef=".5"/>
<joint joint="finright_roll" coef=".5"/>
</fixed>
</tendon>
<actuator>
<position name="tail" joint="tail1" ctrlrange="-1 1" kp="5e-4"/>
<position name="tail_twist" joint="tail_twist" ctrlrange="-1 1" kp="1e-4"/>
<position name="fins_flap" tendon="fins_flap" ctrlrange="-1 1" kp="3e-4"/>
<position name="finleft_pitch" joint="finleft_pitch" ctrlrange="-1 1" kp="1e-4"/>
<position name="finright_pitch" joint="finright_pitch" ctrlrange="-1 1" kp="1e-4"/>
</actuator>
<sensor>
<velocimeter name="velocimeter" site="torso"/>
<gyro name="gyro" site="torso"/>
</sensor>
</mujoco>
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