SWIXMujocoSim/project.xml at main · ncsurobotics/SWIXMujocoSim · GitHub

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<mujoco model="auv">
    <!-- Density and Viscosity tuned to represent fluid environment -->
    <option timestep="0.0001" density="1000" viscosity="1e-6" cone="elliptic" noslip_iterations="3"/>

    <asset>
    <!-- Floor Asset Definition -->
        <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3"
        rgb2=".2 .3 .4" width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
        <material name="grid" texture="grid" texrepeat="2 2" texuniform="true"
        reflectance=".2"/>
    </asset>

    <worldbody>
        <light name="top" pos="0 0 10"/>
        <geom size="10 10 .01" type="plane" material="grid"/>
        <!-- SeaWolf IX AUV model -->
        <body name="SWIX" pos="0 0 5">
            <site name="imu" pos="0 0 0"/>
            <freejoint name="SWIX_freejoint"/>
            <!-- AUV Frame -->
            <geom name="red_box" type="box" size=".4 .2 .2" rgba="1 0 0 0.3" pos="0 0 0" mass="100"/>

            <!-- Vertical Thrusters -->
            <body name="thruster_2" pos=".2 -.3 0">
                <geom type="cylinder" size=".1 .1" rgba="0 0 0 1" mass=".1"/>
            </body>
            <site name="thrust2_site" pos=".2 -.2 0"/>

            <body name="thruster_3" pos="-.2 -.3 0">
                <geom type="cylinder" size=".1 .1" rgba="0 0 0 1"  mass=".1"/>
            </body>
            <site name="thrust3_site" pos="-.2 -.2 0"/>

            <body name="thruster6" pos="-.2 .3 0">
                <geom type="cylinder" size=".1 .1" rgba="0 0 0 1" mass=".1"/>
            </body>
            <site name="thrust6_site" pos="-.2 .2 0"/>

            <body name="thruster_7" pos=".2 .3 0">
                <geom type="cylinder" size=".1 .1" rgba="0 0 0 1" mass=".1"/>
            </body>
            <site name="thrust7_site" pos=".2 .2 0"/>

            <!-- Diagonal Thrusters -->
            <body name="thruster_0" pos=".45 .25 0" euler="90 45 0">
                <geom type="cylinder" size=".1 .1" rgba="0 0 0 1" mass=".1"/>
            </body>
            <site name="thrust0_site" pos=".4 .2 0"/>

            <body name="thruster_1" pos=".45 -.25 0" euler="90 135 0">
                <geom type="cylinder" size=".1 .1" rgba="0 0 0 1" mass=".1"/>
            </body>
            <site name="thrust1_site" pos=".4 -.2 0"/>

            <body name="thruster_4" pos="-.45 -.25 0" euler="90 45 0">
                <geom type="cylinder" size=".1 .1" rgba="0 0 0 1" mass=".1"/>
            </body>
            <site name="thrust4_site" pos="-.4 -.2 0"/>

            <body name="thruster_5" pos="-.45 .25 0" euler="90 135 0">
                <geom type="cylinder" size=".1 .1" rgba="0 0 0 1" mass=".1"/>
            </body>
            <site name="thrust5_site" pos="-.4 .2 0"/>
        </body>

    </worldbody>

    <actuator>
        <!-- Front Diagonal Thrusters -->
        <motor name="thrust0" site="thrust0_site" gear=".4472 -.8944 0 0 0 0" ctrlrange="-500 500"/>
        <motor name="thrust1" site="thrust1_site" gear=".4473 .8944 0 0 0 0" ctrlrange="-500 500"/>

        <!-- Right Vertical Thrusters -->
        <motor name="thrust2" site="thrust2_site" gear="0 0 -1  0 0 0" ctrlrange="-500 500"/>
        <motor name="thrust3" site="thrust3_site" gear="0 0 -1  0 0 0" ctrlrange="-500 500"/>

        <!-- Back Diagonal Thrusters -->
        <motor name="thrust4" site="thrust4_site" gear=".4473 -.8944 0 0 0 0" ctrlrange="-500 500"/>
        <motor name="thrust5" site="thrust5_site" gear=".4473 .8944 0 0 0 0" ctrlrange="-500 500"/>

        <!-- Left Vertical Thrusters -->
        <motor name="thrust6" site="thrust6_site" gear="0 0 -1 0 0 0" ctrlrange="-500 500"/>
        <motor name="thrust7" site="thrust7_site" gear="0 0 -1 0 0 0" ctrlrange="-500 500"/>

    </actuator>

    <sensor>
        <framepos name="body_pos" objtype="site" objname="imu"/>
        <framequat name="body_orientation" objtype="site" objname="imu"/>
        <framelinvel name="body_linvel" objtype="site" objname="imu"/>
        <frameangvel name="body_angvel" objtype="site" objname="imu"/>
   </sensor>


</mujoco>