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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,57 @@ | ||
| diff --git a/particle_modified.xml b/particle_modified.xml | ||
| --- a/particle_modified.xml | ||
| +++ b/particle_modified.xml | ||
| @@ -1,9 +1,5 @@ | ||
| -<mujoco model="planar point mass"> | ||
| - <include file="./common/skybox.xml"/> | ||
| - <include file="./common/visual.xml"/> | ||
| - <include file="./common/materials.xml"/> | ||
| - | ||
| - <option timestep="0.02"> | ||
| +<mujoco model="Particle"> | ||
| + <option timestep="0.01"> | ||
| <flag contact="disable"/> | ||
| </option> | ||
|
|
||
| @@ -13,9 +9,12 @@ | ||
| </default> | ||
|
|
||
| <worldbody> | ||
| + <body name="goal" mocap="true" pos="0.25 0 0.01" quat="1 0 0 0"> | ||
| + <geom type="sphere" size=".01" contype="0" conaffinity="0" rgba="0 1 0 .5"/> | ||
| + </body> | ||
| <light name="light" pos="0 0 1"/> | ||
| <camera name="fixed" pos="0 0 .75" quat="1 0 0 0"/> | ||
| - <geom name="ground" type="plane" pos="0 0 0" size=".3 .3 .1" material="grid"/> | ||
| + <geom name="ground" type="plane" pos="0 0 0" size=".3 .3 .1" material="blue_grid"/> | ||
| <geom name="wall_x" type="plane" pos="-.3 0 .02" zaxis="1 0 0" size=".02 .3 .02" material="decoration"/> | ||
| <geom name="wall_y" type="plane" pos="0 -.3 .02" zaxis="0 1 0" size=".3 .02 .02" material="decoration"/> | ||
| <geom name="wall_neg_x" type="plane" pos=".3 0 .02" zaxis="-1 0 0" size=".02 .3 .02" material="decoration"/> | ||
| @@ -26,24 +25,12 @@ | ||
| <joint name="root_x" type="slide" pos="0 0 0" axis="1 0 0" /> | ||
| <joint name="root_y" type="slide" pos="0 0 0" axis="0 1 0" /> | ||
| <geom name="pointmass" type="sphere" size=".01" material="self" mass=".3"/> | ||
| + <site name="tip" pos="0 0 0" size="0.01"/> | ||
| </body> | ||
| - | ||
| - <geom name="target" pos="0 0 .01" material="target" type="sphere" size=".015"/> | ||
| </worldbody> | ||
|
|
||
| - <tendon> | ||
| - <fixed name="t1"> | ||
| - <joint joint="root_x" coef="1"/> | ||
| - <joint joint="root_y" coef="0"/> | ||
| - </fixed> | ||
| - <fixed name="t2"> | ||
| - <joint joint="root_x" coef="0"/> | ||
| - <joint joint="root_y" coef="1"/> | ||
| - </fixed> | ||
| - </tendon> | ||
| - | ||
| <actuator> | ||
| - <motor name="t1" tendon="t1"/> | ||
| - <motor name="t2" tendon="t2"/> | ||
| + <motor name="x_motor" joint="root_x" gear="1" ctrllimited="true" ctrlrange="-1 1"/> | ||
| + <motor name="y_motor" joint="root_y" gear="1" ctrllimited="true" ctrlrange="-1 1"/> | ||
| </actuator> | ||
| </mujoco> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,110 @@ | ||
| diff --git a/swimmer_modified.xml b/swimmer_modified.xml | ||
| --- a/swimmer_modified.xml | ||
| +++ b/swimmer_modified.xml | ||
| @@ -1,38 +1,35 @@ | ||
| <mujoco model="swimmer"> | ||
| - <include file="./common/visual.xml"/> | ||
| - <include file="./common/skybox.xml"/> | ||
| - <include file="./common/materials.xml"/> | ||
| - | ||
| - <option timestep="0.002" density="3000"> | ||
| + <option timestep="0.01" integrator="implicit" density="1000"> | ||
| <flag contact="disable"/> | ||
| </option> | ||
|
|
||
| <default> | ||
| <default class="swimmer"> | ||
| - <joint type="hinge" pos="0 -.05 0" axis="0 0 1" limited="true" solreflimit=".05 1" solimplimit="0 .8 .1" armature="1e-6"/> | ||
| + <joint type="hinge" pos="0 -.05 0" axis="0 0 1" limited="true" solreflimit=".05 .3" | ||
| + solimplimit="0 .8 .1" armature="1e-6" range="-90 90" stiffness=".001"/> | ||
| <default class="inertial"> | ||
| - <geom type="box" size=".001 .05 .01" rgba="0 0 0 0" mass=".01"/> | ||
| + <geom type="box" size=".001 .05 .01" material="self" mass=".01" group="3"/> | ||
| </default> | ||
| <default class="visual"> | ||
| - <geom type="capsule" size=".01" fromto="0 -.05 0 0 .05 0" material="self" mass="0"/> | ||
| + <geom type="capsule" size=".01" fromto="0 -.05 0 0 .05 0" mass="0" material="self"/> | ||
| </default> | ||
| <site size=".01" rgba="0 0 0 0"/> | ||
| </default> | ||
| <default class="free"> | ||
| <joint limited="false" stiffness="0" armature="0"/> | ||
| </default> | ||
| - <motor gear="5e-4" ctrllimited="true" ctrlrange="-1 1"/> | ||
| + <general gainprm="2e-3" ctrllimited="true" ctrlrange="-1 1" dyntype="filter" dynprm="0.6"/> | ||
| </default> | ||
|
|
||
| <worldbody> | ||
| - <geom name="ground" type="plane" size="2 2 0.1" material="grid"/> | ||
| + <geom name="ground" type="plane" size="2 2 0.01" material="blue_grid"/> | ||
| <body name="head" pos="0 0 .05" childclass="swimmer"> | ||
| <light name="light_1" diffuse=".8 .8 .8" pos="0 0 1.5"/> | ||
| - <geom name="head" type="ellipsoid" size=".02 .04 .017" pos="0 -.022 0" material="self" mass="0"/> | ||
| - <geom name="nose" type="sphere" pos="0 -.06 0" size=".004" material="effector" mass="0"/> | ||
| - <geom name="eyes" type="capsule" fromto="-.006 -.054 .005 .006 -.054 .005" size=".004" material="eye" mass="0"/> | ||
| - <camera name="tracking1" pos="0 -.2 .5" xyaxes="1 0 0 0 1 1" mode="trackcom" fovy="60"/> | ||
| - <camera name="tracking2" pos="-.9 .5 .15" xyaxes="0 -1 0 .3 0 1" mode="trackcom" fovy="60"/> | ||
| + <geom name="head" type="ellipsoid" size=".02 .04 .017" pos="0 -.022 0" mass="0" material="self"/> | ||
| + <geom name="nose" type="sphere" pos="0 -.06 0" size=".004" mass="0" material="effector" euler="180 0 0"/> | ||
| + <geom name="eyes" type="capsule" fromto="-.006 -.054 .005 .006 -.054 .005" size=".004" mass="0" material="eye"/> | ||
| + <camera name="tracking1" pos="0.0 -0.2 0.5" xyaxes="1 0 0 0 1 1" mode="trackcom" fovy="60"/> | ||
| + <camera name="tracking2" pos="-0.9 0.5 0.15" xyaxes="0 -1 0 .3 0 1" mode="trackcom" fovy="60"/> | ||
| <camera name="eyes" pos="0 -.058 .005" xyaxes="-1 0 0 0 0 1"/> | ||
| <joint name="rootx" class="free" type="slide" axis="1 0 0" pos="0 -.05 0"/> | ||
| <joint name="rooty" class="free" type="slide" axis="0 1 0" pos="0 -.05 0"/> | ||
| @@ -40,18 +37,45 @@ | ||
| <geom name="inertial" class="inertial"/> | ||
| <geom name="visual" class="visual"/> | ||
| <site name="head"/> | ||
| + <body name="segment_0" pos="0 .1 0"> | ||
| + <geom class="visual" name="visual_0"/> | ||
| + <geom class="inertial" name="inertial_0"/> | ||
| + <site name="site_0"/> | ||
| + <joint name="joint_0"/> | ||
| + <body name="segment_1" pos="0 .1 0"> | ||
| + <geom class="visual" name="visual_1"/> | ||
| + <geom class="inertial" name="inertial_1"/> | ||
| + <site name="site_1"/> | ||
| + <joint name="joint_1"/> | ||
| + <body name="segment_2" pos="0 .1 0"> | ||
| + <geom class="visual" name="visual_2"/> | ||
| + <geom class="inertial" name="inertial_2"/> | ||
| + <site name="site_2"/> | ||
| + <joint name="joint_2"/> | ||
| + <body name="segment_3" pos="0 .1 0"> | ||
| + <geom class="visual" name="visual_3"/> | ||
| + <geom class="inertial" name="inertial_3"/> | ||
| + <site name="site_3"/> | ||
| + <joint name="joint_3"/> | ||
| + <body name="segment_4" pos="0 .1 0"> | ||
| + <geom class="visual" name="visual_4"/> | ||
| + <geom class="inertial" name="inertial_4"/> | ||
| + <site name="site_4"/> | ||
| + <joint name="joint_4"/> | ||
| + </body> | ||
| + </body> | ||
| + </body> | ||
| + </body> | ||
| + </body> | ||
| </body> | ||
| - <geom name="target" type="sphere" pos="1 1 .05" size=".1" material="target"/> | ||
| - <light name="target_light" diffuse="1 1 1" pos="1 1 1.5"/> | ||
| </worldbody> | ||
|
|
||
| - <sensor> | ||
| - <framepos name="nose_pos" objtype="geom" objname="nose"/> | ||
| - <framepos name="target_pos" objtype="geom" objname="target"/> | ||
| - <framexaxis name="head_xaxis" objtype="xbody" objname="head"/> | ||
| - <frameyaxis name="head_yaxis" objtype="xbody" objname="head"/> | ||
| - <velocimeter name="head_vel" site="head"/> | ||
| - <gyro name="head_gyro" site="head"/> | ||
| - </sensor> | ||
| + <actuator> | ||
| + <general name="0" joint="joint_0"/> | ||
| + <general name="1" joint="joint_1"/> | ||
| + <general name="2" joint="joint_2"/> | ||
| + <general name="3" joint="joint_3"/> | ||
| + <general name="4" joint="joint_4"/> | ||
| + </actuator> | ||
|
|
||
| </mujoco> |
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