214 lines
9.4 KiB
XML
214 lines
9.4 KiB
XML
<mujoco model="Cube 3x3x3">
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<compiler autolimits="true" texturedir="assets"/>
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<option timestep="0.01" integrator="implicitfast"/>
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<size memory="600K"/>
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<visual>
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<global azimuth="180" elevation="-20"/>
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<headlight ambient="0.3 0.3 0.3" diffuse="0.6 0.6 0.6" specular="0 0 0"/>
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</visual>
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<statistic meansize="0.0087" extent="0.1"/>
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<default>
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<geom mass="0.00253704"/>
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<motor ctrlrange="-0.05 0.05"/>
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<default class="cubelet">
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<joint type="ball" armature="0.0001" damping="0.0005" frictionloss="0.001"/>
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<geom type="mesh" condim="1" mesh="cubelet" euler="0 0 90"/>
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</default>
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<default class="core">
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<geom type="sphere" contype="0" conaffinity="0" group="4" size="0.01"/>
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</default>
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</default>
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<asset>
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<texture type="skybox" builtin="gradient" width="512" height="512"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....F......" file="white.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....B......" file="yellow.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....D......" file="red.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....U......" file="orange.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....R......" file="blue.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....L......" file="green.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....DF....." file="red_white.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....UF....." file="orange_white.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RF....." file="blue_white.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LF....." file="green_white.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....DB....." file="red_yellow.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....UB....." file="orange_yellow.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RB....." file="blue_yellow.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LB....." file="green_yellow.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....UD....." file="orange_red.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RD....." file="blue_red.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LD....." file="green_red.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RU....." file="blue_orange.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LU....." file="green_orange.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RDF...." file="blue_red_white.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LDF...." file="green_red_white.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RUF...." file="blue_orange_white.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LUF...." file="green_orange_white.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RDB...." file="blue_red_yellow.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LDB...." file="green_red_yellow.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....RUB...." file="blue_orange_yellow.png"/>
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<texture rgb1="0 0 0" gridsize="3 4" gridlayout=".....LUB...." file="green_orange_yellow.png"/>
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<material name="white" texture="white"/>
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<material name="yellow" texture="yellow"/>
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<material name="red" texture="red"/>
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<material name="orange" texture="orange"/>
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<material name="blue" texture="blue"/>
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<material name="green" texture="green"/>
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<material name="red_white" texture="red_white"/>
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<material name="orange_white" texture="orange_white"/>
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<material name="blue_white" texture="blue_white"/>
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<material name="green_white" texture="green_white"/>
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<material name="red_yellow" texture="red_yellow"/>
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<material name="orange_yellow" texture="orange_yellow"/>
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<material name="blue_yellow" texture="blue_yellow"/>
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<material name="green_yellow" texture="green_yellow"/>
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<material name="orange_red" texture="orange_red"/>
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<material name="blue_red" texture="blue_red"/>
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<material name="green_red" texture="green_red"/>
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<material name="blue_orange" texture="blue_orange"/>
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<material name="green_orange" texture="green_orange"/>
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<material name="blue_red_white" texture="blue_red_white"/>
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<material name="green_red_white" texture="green_red_white"/>
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<material name="blue_orange_white" texture="blue_orange_white"/>
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<material name="green_orange_white" texture="green_orange_white"/>
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<material name="blue_red_yellow" texture="blue_red_yellow"/>
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<material name="green_red_yellow" texture="green_red_yellow"/>
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<material name="blue_orange_yellow" texture="blue_orange_yellow"/>
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<material name="green_orange_yellow" texture="green_orange_yellow"/>
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<mesh name="cubelet" scale="1e-3 1e-3 1e-3"
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vertex="8.075 9.5 -8.075 -8.075 9.5 -8.075 8.075 9.5 8.075
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-8.075 9.5 8.075 -9.5 8.075 -8.075 -9.5 -8.075 -8.075
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-9.5 8.075 8.075 -9.5 -8.075 8.075 8.075 -9.5 -8.075
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8.075 -9.5 8.075 -8.075 -9.5 -8.075 -8.075 -9.5 8.075
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9.5 8.075 8.075 9.5 -8.075 8.075 9.5 8.075 -8.075
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9.5 -8.075 -8.075 8.075 8.075 9.5 -8.075 8.075 9.5
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8.075 -8.075 9.5 -8.075 -8.075 9.5 8.075 -8.075 -9.5
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-8.075 -8.075 -9.5 8.075 8.075 -9.5 -8.075 8.075 -9.5"/>
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</asset>
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<worldbody>
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<light pos="0 0 1"/>
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<body name="core" childclass="cubelet">
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<geom class="core"/>
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<body name="pX">
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<joint name="pX" type="hinge" axis="1 0 0"/>
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<geom material="red" pos="0.019 0 0"/>
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</body>
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<body name="nX">
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<joint name="nX" type="hinge" axis="-1 0 0"/>
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<geom material="orange" pos="-0.019 0 0"/>
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</body>
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<body name="pY">
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<joint name="pY" type="hinge" axis="0 1 0"/>
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<geom material="blue" pos="0 0.019 0"/>
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</body>
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<body name="nY">
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<joint name="nY" type="hinge" axis="0 -1 0"/>
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<geom material="green" pos="0 -0.019 0"/>
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</body>
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<body name="pZ">
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<joint name="pZ" type="hinge" axis="0 0 1"/>
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<geom material="white" pos="0 0 0.019"/>
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</body>
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<body name="nZ">
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<joint name="nZ" type="hinge" axis="0 0 -1"/>
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<geom material="yellow" pos="0 0 -0.019"/>
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</body>
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<body name="pX_pY">
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<joint name="pX_pY"/>
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<geom material="blue_red" pos="0.019 0.019 0"/>
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</body>
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<body name="nY_pX">
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<joint name="nY_pX"/>
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<geom material="green_red" pos="0.019 -0.019 0"/>
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</body>
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<body name="pX_pZ">
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<joint name="pX_pZ"/>
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<geom material="red_white" pos="0.019 0 0.019"/>
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</body>
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<body name="nZ_pX">
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<joint name="nZ_pX"/>
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<geom material="red_yellow" pos="0.019 0 -0.019"/>
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</body>
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<body name="nX_pY">
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<joint name="nX_pY"/>
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<geom material="blue_orange" pos="-0.019 0.019 0"/>
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</body>
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<body name="nX_nY">
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<joint name="nX_nY"/>
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<geom material="green_orange" pos="-0.019 -0.019 0"/>
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</body>
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<body name="nX_pZ">
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<joint name="nX_pZ"/>
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<geom material="orange_white" pos="-0.019 0 0.019"/>
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</body>
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<body name="nX_nZ">
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<joint name="nX_nZ"/>
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<geom material="orange_yellow" pos="-0.019 0 -0.019"/>
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</body>
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<body name="pY_pZ">
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<joint name="pY_pZ"/>
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<geom material="blue_white" pos="0 0.019 0.019"/>
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</body>
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<body name="nZ_pY">
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<joint name="nZ_pY"/>
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<geom material="blue_yellow" pos="0 0.019 -0.019"/>
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</body>
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<body name="nY_pZ">
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<joint name="nY_pZ"/>
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<geom material="green_white" pos="0 -0.019 0.019"/>
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</body>
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<body name="nY_nZ">
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<joint name="nY_nZ"/>
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<geom material="green_yellow" pos="0 -0.019 -0.019"/>
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</body>
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<body name="pX_pY_pZ">
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<joint name="pX_pY_pZ"/>
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<geom material="blue_red_white" pos="0.019 0.019 0.019"/>
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</body>
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<body name="nZ_pX_pY">
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<joint name="nZ_pX_pY"/>
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<geom material="blue_red_yellow" pos="0.019 0.019 -0.019"/>
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</body>
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<body name="nY_pX_pZ">
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<joint name="nY_pX_pZ"/>
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<geom material="green_red_white" pos="0.019 -0.019 0.019"/>
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</body>
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<body name="nY_nZ_pX">
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<joint name="nY_nZ_pX"/>
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<geom material="green_red_yellow" pos="0.019 -0.019 -0.019"/>
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</body>
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<body name="nX_pY_pZ">
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<joint name="nX_pY_pZ"/>
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<geom material="blue_orange_white" pos="-0.019 0.019 0.019"/>
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</body>
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<body name="nX_nZ_pY">
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<joint name="nX_nZ_pY"/>
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<geom material="blue_orange_yellow" pos="-0.019 0.019 -0.019"/>
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</body>
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<body name="nX_nY_pZ">
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<joint name="nX_nY_pZ"/>
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<geom material="green_orange_white" pos="-0.019 -0.019 0.019"/>
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</body>
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<body name="nX_nY_nZ">
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<joint name="nX_nY_nZ"/>
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<geom material="green_orange_yellow" pos="-0.019 -0.019 -0.019"/>
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</body>
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</body>
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</worldbody>
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<actuator>
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<motor name="red" joint="pX"/>
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<motor name="orange" joint="nX"/>
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<motor name="blue" joint="pY"/>
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<motor name="green" joint="nY"/>
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<motor name="white" joint="pZ"/>
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<motor name="yellow" joint="nZ"/>
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</actuator>
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</mujoco>
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