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robot.xml
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<mujoco model="robot">
<compiler angle="degree" coordinate="local" autolimits="true"/>
<option timestep="0.004" integrator="implicitfast"/>
<option gravity="0 0 -9.81"/>
<asset>
<mesh file="robot_body.stl"/>
</asset>
<worldbody>
<!-- Robot Base -->
<body name="robot_base" pos="0 0 0.01">
<!-- <freejoint name="standalone_robot" /> -->
<joint name="x_pos" type="slide" axis="1 0 0"/>
<joint name="y_pos" type="slide" axis="0 1 0"/>
<joint name="orientation" type="hinge" axis="0 0 1"/>
<camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
<geom name="chassis" type="mesh" mesh="robot_body" rgba="0.3 0.3 0.3 1" mass="2" euler="0 0 90"/>
<geom name="kicker" type="box" size="0.01 0.045 0.05" pos="0.065 0 0.05" rgba="0.3 0.3 0.3 1" mass="0.2"/>
</body>
</worldbody>
<actuator>
<motor name="orientation_motor" joint="orientation"/>
<motor name="forward_motor" joint="x_pos"/>
<motor name="left_motor" joint="y_pos"/>
</actuator>
</mujoco>