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129 lines (105 loc) · 5.81 KB
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Copy pathmodel.xml
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129 lines (105 loc) · 5.81 KB
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<mujoco>
<option gravity="0 0 -100" />
<visual>
<headlight ambient="0.66 0.66 0.7" />
</visual>
<worldbody>
<geom type="plane" size="144 144 0.1" rgba="0.6 0.6 0.6 1" />
<!-- X coordinate label -->
<geom name="X1" type="plane" pos="120 0 0.5" euler="0 0 30" size="5 1 0.1" rgba="0 0 0 1"
conaffinity="0" contype="0" />
<geom name="X2" type="plane" pos="120 0 0.5" euler="0 0 150" size="5 1 0.1" rgba="0 0 0 1"
conaffinity="0" contype="0" />
<!-- Y coordinate label -->
<geom name="Y1" type="plane" pos="0 120 0.5" euler="0 0 90" size="3 1 0.1" rgba="0 0 0 1"
conaffinity="0" contype="0" />
<geom name="Y2" type="plane" pos="-1 125 0.5" euler="0 0 120" size="3 1 0.1" rgba="0 0 0 1"
conaffinity="0" contype="0" />
<geom name="Y3" type="plane" pos="1 125 0.5" euler="0 0 60" size="3 1 0.1" rgba="0 0 0 1"
conaffinity="0" contype="0" />
<body euler="0 0 0" pos="0 70 3.2" name="robot">
<geom name="robotbox" type="box" rgba="0 0 0 1" size="14 14 3.2" conaffinity="1"
contype="1" />
<geom name="forward" type="cylinder" rgba="0 1 0 1" size="0.5 10 0.5" pos="0 24 0"
euler="90 0 0" contype="0" conaffinity="0" />
<geom name="right" type="cylinder" rgba="0 1 0 1" size="0.5 10 0.5" pos="24 0 0"
euler="0 90 0" contype="0" conaffinity="0" />
<geom name="backward" type="cylinder" rgba="0 1 0 1" size="0.5 10 0.5" pos="0 -24 0"
euler="90 0 0" contype="0" conaffinity="0" />
<geom name="left" type="cylinder" rgba="0 1 0 1" size="0.5 10 0.5" pos="-24 0 0"
euler="0 90 0" contype="0" conaffinity="0" />
<joint type="free" name="robotfree" />
</body>
<!-- <body euler="0 0 0" pos="70 0 3.2" name="hater">
<geom name="haterbox" type="box" rgba="0.5 0 0 1" size="14 14 3.2" conaffinity="1"
contype="1" />
<joint type="free" name="haterfree" />
</body> -->
<body>
<geom type="sphere" pos="0 70 0" rgba="0.0 0.6 0.0 1" size="3 3 3" contype="0"
conaffinity="0" name="start" />
</body>
<body>
<geom type="sphere" pos="70 0 0" rgba="0.6 0.0 0.0 1" size="3 3 3" contype="0"
conaffinity="0" name="end" />
</body>
<body name="submersible" pos="0 0 36.08">
<geom type="box" rgba="0 0 0 0.01" size="29.5 47.5 36.08" contype="1"
conaffinity="1" />
<geom type="cylinder" euler="0 90 0" pos="0 47.5 -10.98" rgba="0.6 0 0 1"
size="1 29.5 1" />
<geom type="cylinder" euler="0 90 0" pos="0 47.5 15.02" rgba="0.6 0 0 1"
size="1 29.5 1" />
<geom type="cylinder" euler="0 90 0" pos="0 -47.5 -10.98" rgba="0 0 0.6 1"
size="1 29.5 1" />
<geom type="cylinder" euler="0 90 0" pos="0 -47.5 15.02" rgba="0 0 0.6 1"
size="1 29.5 1" />
<geom type="cylinder" euler="90 0 0" pos="29.5 0 3.08" rgba="0.7 0.7 0.7 1"
size="1 47.5 1" />
<geom type="cylinder" euler="90 0 0" pos="29.5 0 35.08" rgba="0.7 0.7 0.7 1"
size="1 47.5 1" />
<geom type="cylinder" euler="90 0 0" pos="-29.5 0 3.08" rgba="0.7 0.7 0.7 1"
size="1 47.5 1" />
<geom type="cylinder" euler="90 0 0" pos="-29.5 0 35.08" rgba="0.7 0.7 0.7 1"
size="1 47.5 1" />
<geom type="box" euler="90 0 0" pos="29.5 47.5 0" rgba="0.7 0.7 0.7 1"
size="1 36.08 1" />
<geom type="box" euler="90 0 0" pos="29.5 -47.5 0" rgba="0.7 0.7 0.7 1"
size="1 36.08 1" />
<geom type="box" euler="90 0 0" pos="-29.5 47.5 0" rgba="0.7 0.7 0.7 1"
size="1 36.08 1" />
<geom type="box" euler="90 0 0" pos="-29.5 -47.5 0" rgba="0.7 0.7 0.7 1"
size="1 36.08 1" />
<geom type="box" euler="0 0 0" pos="29.5 0 -35.08" rgba="0.7 0.7 0.7 1"
size="1 47.5 1" />
<geom type="box" euler="0 0 0" pos="-29.5 0 -35.08" rgba="0.7 0.7 0.7 1"
size="1 47.5 1" />
<geom type="box" euler="0 0 90" pos="0 47.5 -35.08" rgba="0.7 0.7 0.7 1"
size="1 29.5 1" />
<geom type="box" euler="0 0 90" pos="0 -47.5 -35.08" rgba="0.7 0.7 0.7 1"
size="1 29.5 1" />
<geom type="box" euler="0 0 90" pos="0 47.5 35.08" rgba="0.7 0.7 0.7 1"
size="1 29.5 1" />
<geom type="box" euler="0 0 90" pos="0 -47.5 35.08" rgba="0.7 0.7 0.7 1"
size="1 29.5 1" />
<geom type="box" euler="0 60 90" pos="40 47.5 -20" rgba="0.7 0.7 0.7 1"
size="1.125 20 1.38" />
<geom type="box" euler="0 -60 90" pos="-40 47.5 -20" rgba="0.7 0.7 0.7 1"
size="1.125 20 1.38" />
<geom type="box" euler="0 60 90" pos="40 -47.5 -20" rgba="0.7 0.7 0.7 1"
size="1.125 20 1.38" />
<geom type="box" euler="0 -60 90" pos="-40 -47.5 -20" rgba="0.7 0.7 0.7 1"
size="1.125 20 1.38" />
</body>
<body name="wall">
<geom type="box" pos="-144 0 12" rgba="0.8 0.8 0.8 0.5" size="0.75 144 12.2" contype="1"
conaffinity="1" />
<geom type="box" pos="144 0 12" rgba="0.8 0.8 0.8 0.5" size="0.75 144 12.2" contype="1"
conaffinity="1" />
<geom type="box" pos="0 -144 12" rgba="0.8 0.8 0.8 0.5" size="144 0.75 12.2" contype="1"
conaffinity="1" />
<geom type="box" pos="0 144 12" rgba="0.8 0.8 0.8 0.5" size="144 0.75 12.2" contype="1"
conaffinity="1" />
</body>
</worldbody>
</mujoco>