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Runtime error
Runtime error
File size: 3,801 Bytes
dee27a2 376295f dee27a2 376295f dee27a2 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 | <mujoco model="drone_forest">
<compiler angle="radian"/>
<option timestep="0.002" gravity="0 0 -9.81" integrator="RK4"/>
<default>
<geom contype="1" conaffinity="1" condim="3" friction="1 0.5 0.5"/>
<joint damping="0.01"/>
</default>
<asset>
<texture name="grid" type="2d" builtin="checker" rgb1="0.3 0.6 0.3" rgb2="0.2 0.5 0.2"
width="512" height="512"/>
<material name="ground_mat" texture="grid" texrepeat="10 10" texuniform="true"
reflectance="0.1"/>
<material name="drone_body_mat" rgba="0.2 0.2 0.2 1"/>
<material name="drone_arm_mat" rgba="0.4 0.4 0.4 1"/>
<material name="rotor_mat" rgba="0.1 0.1 0.8 1"/>
<material name="target_mat" rgba="1.0 0.0 0.0 0.6"/>
</asset>
<worldbody>
<!-- Ground plane -->
<geom name="ground" type="plane" size="25 25 0.1" material="ground_mat"
contype="1" conaffinity="1"/>
<!-- Drone -->
<body name="drone" pos="0 0 1.5">
<freejoint name="drone_joint"/>
<inertial pos="0 0 0" mass="0.4" diaginertia="0.003 0.003 0.005"/>
<!-- Central body -->
<geom name="drone_body" type="box" size="0.06 0.06 0.025" material="drone_body_mat"
mass="0.2" contype="1" conaffinity="1"/>
<!-- Arm +X (front-right) -->
<geom name="arm_fr" type="capsule" fromto="0.04 -0.04 0 0.14 -0.14 0"
size="0.01" material="drone_arm_mat" mass="0.02" contype="0" conaffinity="0"/>
<site name="rotor_fr" pos="0.14 -0.14 0.01" size="0.04 0.005" type="cylinder"
rgba="0.1 0.1 0.8 0.5"/>
<!-- Arm +X +Y (front-left) -->
<geom name="arm_fl" type="capsule" fromto="0.04 0.04 0 0.14 0.14 0"
size="0.01" material="drone_arm_mat" mass="0.02" contype="0" conaffinity="0"/>
<site name="rotor_fl" pos="0.14 0.14 0.01" size="0.04 0.005" type="cylinder"
rgba="0.1 0.1 0.8 0.5"/>
<!-- Arm -X -Y (back-right) -->
<geom name="arm_br" type="capsule" fromto="-0.04 -0.04 0 -0.14 -0.14 0"
size="0.01" material="drone_arm_mat" mass="0.02" contype="0" conaffinity="0"/>
<site name="rotor_br" pos="-0.14 -0.14 0.01" size="0.04 0.005" type="cylinder"
rgba="0.1 0.1 0.8 0.5"/>
<!-- Arm -X +Y (back-left) -->
<geom name="arm_bl" type="capsule" fromto="-0.04 0.04 0 -0.14 0.14 0"
size="0.01" material="drone_arm_mat" mass="0.02" contype="0" conaffinity="0"/>
<site name="rotor_bl" pos="-0.14 0.14 0.01" size="0.04 0.005" type="cylinder"
rgba="0.1 0.1 0.8 0.5"/>
<!-- FPV camera (front-facing, slightly down) -->
<camera name="drone_fpv" pos="0.08 0 -0.01" xyaxes="0 -1 0 0.1 0 1"
fovy="90"/>
</body>
<!-- Target (visual only) -->
<body name="target" pos="3 0 1.5">
<geom name="target_geom" type="sphere" size="0.3" material="target_mat"
contype="0" conaffinity="0"/>
</body>
<!-- Static overhead camera (does not track drone) -->
<camera name="tracking" pos="0 0 15" xyaxes="1 0 0 0 1 0" mode="fixed"
fovy="70"/>
</worldbody>
<!-- Site-based thrust actuators: force applied in site-local z (tilts with drone) -->
<actuator>
<general name="thrust_fr" site="rotor_fr" gear="0 0 1 0 0 0" ctrllimited="true"
ctrlrange="0 3" gainprm="1" biasprm="0 0 0"/>
<general name="thrust_fl" site="rotor_fl" gear="0 0 1 0 0 0" ctrllimited="true"
ctrlrange="0 3" gainprm="1" biasprm="0 0 0"/>
<general name="thrust_br" site="rotor_br" gear="0 0 1 0 0 0" ctrllimited="true"
ctrlrange="0 3" gainprm="1" biasprm="0 0 0"/>
<general name="thrust_bl" site="rotor_bl" gear="0 0 1 0 0 0" ctrllimited="true"
ctrlrange="0 3" gainprm="1" biasprm="0 0 0"/>
</actuator>
</mujoco>
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