44 lines
1.8 KiB
XML
44 lines
1.8 KiB
XML
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<mujoco model="quadcopter">
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<compiler angle="radian" autolimits="true"/>
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<option timestep="0.002" integrator="implicitfast" gravity="0 0 -9.81"/>
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<default>
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<geom rgba="0.5 0.5 0.5 1"/>
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<site size="0.01" rgba="1 0 0 1"/>
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</default>
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<worldbody>
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<light pos="0 0 3" dir="0 0 -1" diffuse="0.8 0.8 0.8"/>
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<geom type="plane" size="5 5 0.1" rgba="0.9 0.9 0.9 1"/>
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<body name="base" pos="0 0 0.5">
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<freejoint name="root"/>
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<inertial pos="0 0 0" mass="1.0" diaginertia="0.01 0.01 0.02"/>
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<!-- Central body -->
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<geom type="box" size="0.1 0.1 0.02" rgba="0.3 0.3 0.8 1"/>
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<!-- Rotor sites at corners -->
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<site name="rotor_fl" pos="0.1 0.1 0"/>
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<site name="rotor_fr" pos="0.1 -0.1 0"/>
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<site name="rotor_rl" pos="-0.1 0.1 0"/>
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<site name="rotor_rr" pos="-0.1 -0.1 0"/>
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<!-- Visual rotor geoms (non-collision) -->
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<geom name="rotor_fl_vis" type="cylinder" size="0.05 0.005" pos="0.1 0.1 0" rgba="1 0 0 0.5" contype="0" conaffinity="0"/>
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<geom name="rotor_fr_vis" type="cylinder" size="0.05 0.005" pos="0.1 -0.1 0" rgba="1 0 0 0.5" contype="0" conaffinity="0"/>
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<geom name="rotor_rl_vis" type="cylinder" size="0.05 0.005" pos="-0.1 0.1 0" rgba="1 0 0 0.5" contype="0" conaffinity="0"/>
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<geom name="rotor_rr_vis" type="cylinder" size="0.05 0.005" pos="-0.1 -0.1 0" rgba="1 0 0 0.5" contype="0" conaffinity="0"/>
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</body>
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</worldbody>
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<actuator>
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<!-- Site actuators applying vertical thrust forces -->
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<motor name="thrust_fl" site="rotor_fl" gear="0 0 1 0 0 0" ctrlrange="0 20"/>
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<motor name="thrust_fr" site="rotor_fr" gear="0 0 1 0 0 0" ctrlrange="0 20"/>
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<motor name="thrust_rl" site="rotor_rl" gear="0 0 1 0 0 0" ctrlrange="0 20"/>
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<motor name="thrust_rr" site="rotor_rr" gear="0 0 1 0 0 0" ctrlrange="0 20"/>
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</actuator>
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</mujoco>
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