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evo_ant_test.xml
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<mujoco model="evo-ant-base">
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<option integrator="RK4" timestep="0.01"/>
<default>
<joint armature="1" damping="1" limited="true"/>
<geom conaffinity="1" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba=".98 .54 .56 .5" material="geom"/>
</default>
<visual>
<headlight ambient=".1 .1 .1" diffuse=".6 .6 .6" specular="0.3 0.3 0.3"/>
<map znear=".01"/>
<quality shadowsize="16384"/>
</visual>
<worldbody>
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
<geom contype="1" conaffinity="1" friction="1 .1 .1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
<geom fromto="4 -5 0 4 +5 0" name="rightgoal" rgba="1 0 0 0.5" size=".03" type="cylinder"/>
<geom fromto="-4 -5 0 -4 +5 0" name="leftgoal" rgba="1 0 0 0.5" size=".03" type="cylinder"/>
<body name="0" pos="-1 0 0.75" euler="0 0 180">
<geom pos="0 0 0" size="0.25" type="sphere"/>
<joint armature="0" damping="0" limited="false" margin="0.01" name="0_joint" pos="0 0 0" range="-30 30" type="free"/>
<body name="1" pos="0 0 0">
<geom fromto="0 0 0 0.4 0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="1_joint" pos="0 0 0" range="-30 30" type="hinge"/>
<body name="11" pos="0.4 0.4 0">
<geom fromto="0 0 0 0.4 0.4 0" size="0.08" type="capsule"/>
<joint axis="-0.707107 0.707107 0" name="11_joint" pos="0 0 0" range="30 70" type="hinge"/>
</body>
<body name="21" pos="0.4 0.4 0">
<geom fromto="0 0 0 0.4 0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="21_joint" pos="0 0 0" range="-30 30" type="hinge"/>
</body>
<body name="31" pos="0.4 0.4 0">
<geom fromto="0 0 0 0.4 0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="31_joint" pos="0 0 0" range="-30 30" type="hinge"/>
</body>
<body name="41" pos="0.4 0.4 0">
<geom fromto="0 0 0 0.4 0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="41_joint" pos="0 0 0" range="-30 30" type="hinge"/>
</body>
</body>
<body name="2" pos="0 0 0">
<geom fromto="0 0 0 -0.4 0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="2_joint" pos="0 0 0" range="-30 30" type="hinge"/>
<body name="12" pos="-0.4 0.4 0">
<geom fromto="0 0 0 -0.4 0.4 0" size="0.08" type="capsule"/>
<joint axis="-0.707107 -0.707107 0" name="12_joint" pos="0 0 0" range="30 70" type="hinge"/>
</body>
<body name="22" pos="-0.4 0.4 0">
<geom fromto="0 0 0 -0.4 0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="22_joint" pos="0 0 0" range="-30 30" type="hinge"/>
</body>
<body name="32" pos="-0.4 0.4 0">
<geom fromto="0 0 0 -0.4 0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="32_joint" pos="0 0 0" range="-30 30" type="hinge"/>
</body>
<body name="42" pos="-0.4 0.4 0">
<geom fromto="0 0 0 -0.4 0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="42_joint" pos="0 0 0" range="-30 30" type="hinge"/>
</body>
</body>
<body name="3" pos="0 0 0">
<geom fromto="0 0 0 -0.4 -0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="3_joint" pos="0 0 0" range="-30 30" type="hinge"/>
<body name="13" pos="-0.4 -0.4 0">
<geom fromto="0 0 0 -0.4 -0.4 0" size="0.08" type="capsule"/>
<joint axis="0.707107 -0.707107 0" name="13_joint" pos="0 0 0" range="30 70" type="hinge"/>
</body>
<body name="23" pos="-0.4 -0.4 0">
<geom fromto="0 0 0 -0.4 -0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="23_joint" pos="0 0 0" range="-30 30" type="hinge"/>
</body>
<body name="33" pos="-0.4 -0.4 0">
<geom fromto="0 0 0 -0.4 -0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="33_joint" pos="0 0 0" range="-30 30" type="hinge"/>
</body>
<body name="43" pos="-0.4 -0.4 0">
<geom fromto="0 0 0 -0.4 -0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="43_joint" pos="0 0 0" range="-30 30" type="hinge"/>
</body>
</body>
<body name="4" pos="0 0 0">
<geom fromto="0 0 0 0.4 -0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="4_joint" pos="0 0 0" range="-30 30" type="hinge"/>
<body name="14" pos="0.4 -0.4 0">
<geom fromto="0 0 0 0.4 -0.4 0" size="0.08" type="capsule"/>
<joint axis="0.707107 0.707107 0" name="14_joint" pos="0 0 0" range="30 70" type="hinge"/>
</body>
<body name="24" pos="0.4 -0.4 0">
<geom fromto="0 0 0 0.4 -0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="24_joint" pos="0 0 0" range="-30 30" type="hinge"/>
</body>
<body name="34" pos="0.4 -0.4 0">
<geom fromto="0 0 0 0.4 -0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="34_joint" pos="0 0 0" range="-30 30" type="hinge"/>
</body>
<body name="44" pos="0.4 -0.4 0">
<geom fromto="0 0 0 0.4 -0.4 0" size="0.08" type="capsule"/>
<joint axis="0 0 1" name="44_joint" pos="0 0 0" range="-30 30" type="hinge"/>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="1_joint" gear="150" name="1_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="2_joint" gear="150" name="2_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="3_joint" gear="150" name="3_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="4_joint" gear="150" name="4_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="11_joint" gear="150" name="11_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="12_joint" gear="150" name="12_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="13_joint" gear="150" name="13_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="14_joint" gear="150" name="14_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="21_joint" gear="150" name="21_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="22_joint" gear="150" name="22_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="23_joint" gear="150" name="23_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="24_joint" gear="150" name="24_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="31_joint" gear="150" name="31_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="32_joint" gear="150" name="32_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="33_joint" gear="150" name="33_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="34_joint" gear="150" name="34_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="41_joint" gear="150" name="41_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="42_joint" gear="150" name="42_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="43_joint" gear="150" name="43_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="44_joint" gear="150" name="44_joint"/>
</actuator>
<asset>
<texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0" width="100" height="100"/>
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
<material name="geom" texture="texgeom" texuniform="true"/>
<texture name="grid_new" type="2d" builtin="checker" rgb1=".1 .3 .2" rgb2=".2 .4 .3" width="1000" height="1000" mark="none" markrgb=".8 .6 .4"/>
<material name="grid_new" texture="grid_new" texrepeat="0.2 0.2" texuniform="true" reflectance=".2"/>
</asset>
</mujoco>