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- <mujoco>
- <option density="1.204" viscosity="1.8e-5" integrator="implicit"/>
- <visual>
- <global elevation="-10"/>
- </visual>
- <default>
- <tendon limited="true" width="0.003" rgba="1 1 1 1"/>
- <geom friction=".2"/>
- <default class="weight">
- <geom rgba=".8 .4 .8 1"/>
- <site rgba=".8 .4 .8 1"/>
- </default>
- <default class="balloon">
- <!--
- 0.167 is the MKS density of helium at room temperature.
- Note this does not take into account the mass of the rubber,
- which is likely not insignificant.
- -->
- <geom density="0.167" fluidshape="ellipsoid"/>
- <default class="pink">
- <geom rgba="1 .6 .7 1"/>
- <site rgba="1 .6 .7 1"/>
- </default>
- <default class="blue">
- <geom rgba=".3 .7 .9 1"/>
- <site rgba=".3 .7 .9 1"/>
- </default>
- <default class="green">
- <geom rgba=".4 .9 .5 1"/>
- <site rgba=".4 .9 .5 1"/>
- </default>
- <default class="orange">
- <geom rgba="1 .4 0 1"/>
- <site rgba="1 .4 0 1"/>
- </default>
- </default>
- </default>
- <asset>
- <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb2="0 0 0" rgb1="1 1 1"/>
- <material name="grid" texture="grid" texrepeat="2 2" texuniform="true" reflectance=".6"/>
- </asset>
- <worldbody>
- <geom name="ground" type="plane" size="5 5 .05" pos="0 0 -.5" material="grid"/>
- <geom name="ramp" type="box" size=".4 .2 .03" pos="0 0 -.4" euler="0 20 0" rgba="1 1 1 1"/>
- <body name="weight" childclass="weight" pos=".3 0 .2">
- <freejoint/>
- <light pos="1 0 3" dir="-1 0 -3" mode="trackcom"/>
- <light pos="-1 0 3" dir="1 0 -3" mode="trackcom"/>
- <!-- The mass of the weight was chosen to be slightly bigger than the total buoyancy of the balloons. -->
- <geom name="weight" type="box" size=".015 .015 .015" mass=".0347"/>
- <site name="weight1" pos=" .013 .013 .013" size="0.005"/>
- <site name="weight2" pos="-.013 -.013 .013" size="0.005"/>
- </body>
- <!-- The gravcomp value of 7.2 is the ratio of air and helium densities at room temperature. -->
- <body name="pink" gravcomp="7.2" pos="-.2 .1 .2" childclass="pink">
- <freejoint />
- <geom name="pink" type="ellipsoid" size=".11 .11 .15"/>
- <geom name="pink_knot" pos="0 0 -.15" size=".02"/>
- <site name="pink" pos="0 0 -.17" size="0.01"/>
- </body>
- <body name="blue" gravcomp="7.2" pos=".1 .1 .2" childclass="blue">
- <freejoint />
- <geom name="blue" type="ellipsoid" size=".12 .12 .15"/>
- <geom name="blue_knot" pos="0 0 -.15" size=".02"/>
- <site name="blue" pos="0 0 -.17" size="0.01"/>
- </body>
- <body name="green" gravcomp="7.2" pos=".1 -.1 .2" childclass="green">
- <freejoint />
- <geom name="green" type="ellipsoid" size=".12 .12 .14"/>
- <geom name="green_knot" pos="0 0 -.14" size=".02"/>
- <site name="green" pos="0 0 -.16" size="0.01"/>
- </body>
- <body name="orange" gravcomp="7.2" pos="-.12 -.12 .2" childclass="orange">
- <freejoint />
- <geom name="orange" type="ellipsoid" size=".12 .12 .13"/>
- <geom name="orange_knot" pos="0 0 -.13" size=".02"/>
- <site name="orange" pos="0 0 -.15" size="0.01"/>
- </body>
- </worldbody>
- <tendon>
- <spatial range="0 0.6">
- <site site="pink"/>
- <site site="weight1"/>
- </spatial>
- <spatial range="0 0.4">
- <site site="blue"/>
- <site site="weight1"/>
- </spatial>
- <spatial range="0 0.3">
- <site site="green"/>
- <site site="weight2"/>
- </spatial>
- <spatial range="0 0.5">
- <site site="orange"/>
- <site site="weight2"/>
- </spatial>
- </tendon>
- </mujoco>
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