envpool/third_party/mujoco_gym_xml_patches/swimmer_envpool.xml at 6003bbee305a7674b3ab689ad0c8a3b9efb8442e · sail-sg/envpool · GitHub

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<!--
 Copyright 2026 Garena Online Private Limited

 Licensed under the Apache License, Version 2.0 (the "License");
 you may not use this file except in compliance with the License.
 You may obtain a copy of the License at

     http://www.apache.org/licenses/LICENSE-2.0

 Unless required by applicable law or agreed to in writing, software
 distributed under the License is distributed on an "AS IS" BASIS,
 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
 limitations under the License.
-->

<mujoco model="swimmer">
  <compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
  <option density="4000" integrator="RK4" timestep="0.01" viscosity="0.1"/>
  <default>
    <geom conaffinity="0" condim="1" contype="0" material="geom" rgba="0.8 0.6 .4 1"/>
    <joint armature='0.1'  />
  </default>
  <asset>
    <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
    <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
    <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
    <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="30 30" texture="texplane"/>
    <material name="geom" texture="texgeom" texuniform="true"/>
  </asset>
  <worldbody>
    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
    <geom condim="3" material="MatPlane" name="floor" pos="0 0 -0.1" rgba="0.8 0.9 0.8 1" size="40 40 0.1" type="plane"/>
    <!--  ================= SWIMMER ================= /-->
    <body name="torso" pos="0 0 0">
      <camera name="track" mode="trackcom" pos="0 -3 3" xyaxes="1 0 0 0 1 1"/>
      <geom density="1000" fromto="1.5 0 0 0.5 0 0" size="0.1" type="capsule"/>
      <joint axis="1 0 0" name="slider1" pos="0 0 0" type="slide"/>
      <joint axis="0 1 0" name="slider2" pos="0 0 0" type="slide"/>
      <joint axis="0 0 1" name="free_body_rot" pos="0 0 0" type="hinge"/>
      <body name="mid" pos="0.5 0 0">
        <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
        <joint axis="0 0 1" limited="true" name="motor1_rot" pos="0 0 0" range="-100 100" type="hinge"/>
        <body name="back" pos="-1 0 0">
          <geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
          <joint axis="0 0 1" limited="true" name="motor2_rot" pos="0 0 0" range="-100 100" type="hinge"/>
        </body>
      </body>
    </body>
  </worldbody>
  <actuator>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="motor1_rot"/>
    <motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="motor2_rot"/>
  </actuator>
</mujoco>