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