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43 lines
1.7 KiB
XML
43 lines
1.7 KiB
XML
<mujoco model="pendulum_with_goals">
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<include file="./common/visual.xml"/>
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<include file="./common/skybox.xml"/>
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<include file="./common/materials.xml"/>
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<option timestep="0.002">
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<flag contact="disable" energy="enable"/>
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</option>
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<worldbody>
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<light name="light" pos="0 0 2"/>
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<geom name="floor" size="2 2 .2" type="plane" material="grid"/>
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<camera name="fixed" pos="0 -1.5 2" xyaxes='1 0 0 0 1 1'/>
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<camera name="lookat" mode="targetbodycom" target="pole" pos="0 -2 1"/>
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<body name="pole" pos="0 0 .6">
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<joint name="hinge" type="hinge" axis="0 1 0" damping="0.1"/>
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<geom name="base" material="decoration" type="cylinder" fromto="0 -.03 0 0 .03 0" size="0.021" mass="0"/>
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<geom name="pole" material="self" type="capsule" fromto="0 0 0 0 0 0.5" size="0.02" mass="0"/>
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<geom name="mass" material="effector" type="sphere" pos="0 0 0.5" size="0.05" mass="1"/>
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</body>
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<body name="end_goal" pos="0 0 0" mocap="true">
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<site type="sphere" size="0.05" rgba="1 1 0 1" />
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</body>
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<!--<body name="sub_goal" pos="0 0 0" mocap="true">-->
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<!--<site type="sphere" size="0.05" rgba="1 0 1 1" />-->
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<!--</body>-->
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<body name="current_velo" pos="0.0 0 0.0" mocap="true">
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<site type="box" size="0.01 0.01 0.1" rgba="1 1 1 1" />
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</body>
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<body name="subgoal_velo" pos="0.0 0 0.0" mocap="true">
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<site type="box" size="0.01 0.01 0.1" rgba="1 0 1 1" />
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</body>
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<body name="zero_velo" pos="1.0 0 0.75" mocap="true">
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<site type="box" size="0.3 0.01 0.01" rgba="1 0 0 1" />
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</body>
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</worldbody>
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<actuator>
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<motor name="torque" joint="hinge" gear="1" ctrlrange="-2 2" ctrllimited="true"/>
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</actuator>
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</mujoco>
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