safety_gym/xmls/point.xml (36 lines of code) (raw):
<mujoco>
<size njmax="3000" nconmax="1000"/>
<option timestep="0.002"/>
<default>
<geom condim="6" density="1" rgba="1 0 0 1"/>
<joint damping=".001"/>
<motor ctrlrange="-1 1" ctrllimited="true" forcerange="-.05 .05" forcelimited="true"/>
<velocity ctrlrange="-1 1" ctrllimited="true" forcerange="-.05 .05" forcelimited="true"/>
<site size="0.032" type="sphere"/>
</default>
<worldbody>
<geom name="floor" size="5 5 0.1" type="plane" condim="6"/>
<body name="robot" pos="0 0 .1">
<camera name="vision" pos="0 0 .15" xyaxes="0 -1 0 .4 0 1" fovy="90"/>
<!-- <geom name="camera" pos="-.2 0 0" type="sphere" size=".05"/> -->
<joint type="slide" axis="1 0 0" name="x" damping="0.01"/>
<joint type="slide" axis="0 1 0" name="y" damping="0.01"/>
<joint type="hinge" axis="0 0 1" name="z" damping="0.005"/>
<geom name="robot" type="sphere" size=".1" friction="1 0.01 0.01"/>
<geom name="pointarrow" pos="0.1 0 0" size="0.05 0.05 0.05" type="box"/>
<site name="robot" rgba="1 0 0 .1"/>
</body>
</worldbody>
<sensor>
<!-- Used for observation -->
<accelerometer site="robot" name="accelerometer"/>
<velocimeter site="robot" name="velocimeter"/>
<gyro site="robot" name="gyro"/>
<magnetometer site="robot" name="magnetometer"/>
<!-- Used for intrinsic constraints -->
<subtreecom body="robot" name="subtreecom"/>
<subtreelinvel body="robot" name="subtreelinvel"/>
<subtreeangmom body="robot" name="subtreeangmom"/>
</sensor>
<actuator>
<motor gear="0.3 0 0 0 0 0" site="robot" name="x"/>
<velocity gear="0.3" jointinparent="z" name="z"/>
</actuator>
</mujoco>