72 lines
2.8 KiB
XML
72 lines
2.8 KiB
XML
<mujoco model="Skydio X2">
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<compiler autolimits="true" assetdir="assets"/>
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<option timestep="0.01" density="1.225" viscosity="1.8e-5"/>
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<default>
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<default class="x2">
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<geom mass="0"/>
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<motor ctrlrange="0 13"/>
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<mesh scale="0.01 0.01 0.01"/>
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<default class="visual">
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<geom group="2" type="mesh" contype="0" conaffinity="0"/>
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</default>
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<default class="collision">
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<geom group="3" type="box"/>
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<default class="rotor">
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<geom type="ellipsoid" size=".13 .13 .01"/>
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</default>
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</default>
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<site group="5"/>
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</default>
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</default>
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<asset>
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<texture type="2d" file="X2_lowpoly_texture_SpinningProps_1024.png"/>
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<material name="phong3SG" texture="X2_lowpoly_texture_SpinningProps_1024"/>
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<material name="invisible" rgba="0 0 0 0"/>
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<mesh class="x2" file="X2_lowpoly.obj"/>
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</asset>
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<worldbody>
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<light name="spotlight" mode="targetbodycom" target="x2" pos="0 -1 2"/>
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<body name="x2" pos="0 0 0.1" childclass="x2">
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<freejoint/>
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<camera name="track" pos="-1 0 .5" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
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<site name="imu" pos="0 0 .02"/>
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<geom material="phong3SG" mesh="X2_lowpoly" class="visual" quat="0 0 1 1"/>
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<geom class="collision" size=".06 .027 .02" pos=".04 0 .02"/>
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<geom class="collision" size=".06 .027 .02" pos=".04 0 .06"/>
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<geom class="collision" size=".05 .027 .02" pos="-.07 0 .065"/>
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<geom class="collision" size=".023 .017 .01" pos="-.137 .008 .065" quat="1 0 0 1"/>
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<geom name="rotor1" class="rotor" pos="-.14 -.18 .05" mass=".25"/>
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<geom name="rotor2" class="rotor" pos="-.14 .18 .05" mass=".25"/>
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<geom name="rotor3" class="rotor" pos=".14 .18 .08" mass=".25"/>
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<geom name="rotor4" class="rotor" pos=".14 -.18 .08" mass=".25"/>
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<geom size=".16 .04 .02" pos="0 0 0.02" type="ellipsoid" mass=".325" class="visual" material="invisible"/>
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<site name="thrust1" pos="-.14 -.18 .05"/>
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<site name="thrust2" pos="-.14 .18 .05"/>
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<site name="thrust3" pos=".14 .18 .08"/>
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<site name="thrust4" pos=".14 -.18 .08"/>
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</body>
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</worldbody>
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<actuator>
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<motor class="x2" name="thrust1" site="thrust1" gear="0 0 1 0 0 -.0201"/>
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<motor class="x2" name="thrust2" site="thrust2" gear="0 0 1 0 0 .0201"/>
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<motor class="x2" name="thrust3" site="thrust3" gear="0 0 1 0 0 .0201"/>
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<motor class="x2" name="thrust4" site="thrust4" gear="0 0 1 0 0 -.0201"/>
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</actuator>
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<sensor>
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<gyro name="body_gyro" site="imu"/>
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<accelerometer name="body_linacc" site="imu"/>
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<framequat name="body_quat" objtype="site" objname="imu"/>
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</sensor>
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<keyframe>
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<key name="hover" qpos="0 0 .3 1 0 0 0" ctrl="3.2495625 3.2495625 3.2495625 3.2495625"/>
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</keyframe>
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</mujoco>
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