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Running on Zero
Running on Zero
| <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> | |