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mhs.xml
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<mujoco model="Ingenuity">
<compiler assetdir="assets" autolimits="true"/>
<option timestep="0.008" density="1.225" viscosity="1.8e-5"/>
<default>
<default class="ingenuity">
<geom mass="0"/>
<default class="visual">
<geom group="2" type="mesh" contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom group="3" type="box"/>
<default class="rotor">
<geom type="ellipsoid"/>
</default>
</default>
</default>
</default>
<asset>
<texture type="2d" file="carbon.png"/>
<material name="box" rgba="1 1 1 1"/>
<material name="blades" texture="carbon" rgba="0.3 0.3 0.3 1"/>
<material name="legs" rgba="0.05 0.05 0.05 0.8"/>
<mesh name="mainBody" file="mhs_mainbody_v16.stl"/>
<mesh name="topBlades" file="mhs_topblades_v16.stl"/>
<mesh name="bottomBlades" file="mhs_bottomblades_v16.stl"/>
<mesh name="leg01Blades" file="mhs_leg01_v16.stl"/>
<mesh name="leg02Blades" file="mhs_leg02_v16.stl"/>
<mesh name="leg03Blades" file="mhs_leg03_v16.stl"/>
<mesh name="leg04Blades" file="mhs_leg04_v16.stl"/>
</asset>
<worldbody>
<body name="ingenuity" pos="0 0 0.5" childclass="ingenuity">
<freejoint/>
<geom
class="visual"
material="box"
mesh="mainBody"
pos="0 0 0"
quat="0 0 1 0"
/>
<geom class="collision" mass="0.5" size="0.084 0.097 0.065" pos="0 0 -0.145"/>
<geom class="collision" mass="0.25" size="0.04 0.04 0.10" pos="0 0 0.03"/>
<geom class="collision" mass="0.25" size="0.08 0.21 0.001" pos="0 0 0.14"/>
<body name="leg2">
<geom
class="visual"
material="legs"
mesh="leg02Blades"
pos="0.196 -0.1945 -0.215"
quat="0 0 1 0"
/>
<geom
class="collision"
mass="0.05"
size="0.02 0.015 0.01"
pos="0.293 -0.29 -0.329"
quat="0.39 0 0 1"
/>
<geom
class="collision"
mass="0.05"
size="0.01 0.01 0.14"
pos="0.196 -0.1945 -0.225"
quat="-0.4 -0.2 0.45 1"
/>
</body>
<body name="leg1">
<geom
class="visual"
material="legs"
mesh="leg01Blades"
pos="-0.1945 -0.196 -0.215"
quat="0 0 1 0"
/>
<geom
class="collision"
mass="0.05"
size="0.02 0.015 0.01"
pos="-0.293 -0.29 -0.329"
quat="0.39 0 0 1"
/>
<geom
class="collision"
mass="0.05"
size="0.01 0.01 0.14"
pos="-0.196 -0.1945 -0.225"
quat="0.4 0.2 0.45 1"
/>
</body>
<body name="leg3">
<geom
class="visual"
material="legs"
mesh="leg03Blades"
pos="0.1945 0.196 -0.215"
quat="0 0 1 0"
/>
<geom
class="collision"
mass="0.05"
size="0.02 0.015 0.01"
pos="0.293 0.29 -0.329"
quat="0.39 0 0 1"
/>
<geom
class="collision"
mass="0.05"
size="0.01 0.01 0.14"
pos="0.196 0.1945 -0.225"
quat="0.4 -0.2 -0.45 1"
/>
</body>
<body name="leg4">
<geom
class="visual"
material="legs"
mesh="leg04Blades"
pos="-0.196 0.1945 -0.215"
quat="0 0 1 0"
/>
<geom
class="collision"
mass="0.05"
size="0.02 0.015 0.01"
pos="-0.293 0.29 -0.329"
quat="0.39 0 0 1"
/>
<geom
class="collision"
mass="0.05"
size="0.01 0.01 0.14"
pos="-0.196 0.1945 -0.225"
quat="-0.4 0.2 -0.45 1"
/>
</body>
<body name="blades" quat="0 0 1 0">
<geom
class="visual"
material="blades"
mesh="topBlades"
pos="0 0 -0.0675"
/>
<geom
class="visual"
material="blades"
mesh="bottomBlades"
pos="0 0 0.0092"
quat="0.6 0 0 1"
/>
<geom class="rotor" mass="0.2" pos="0 0 -0.0675" size="0.64 0.64 0.02"/>
<geom class="rotor" mass="0.2" pos="0 0 0.0092" size="0.64 0.64 0.02"/>
<site name="thrust1" pos="0 0 -0.0830" quat="0 0 1 0"/>
<site name="thrust2" pos="0 0 0.0150" quat="0 0 1 0"/>
</body>
<camera name="nav_cam" pos="0.08 0 -0.22" mode="fixed" xyaxes="0 -1 0 1 -1 1"/>
<site name="imu"/>
<site name="laser_rangefinder" pos="0 0 -0.22" quat="0 0 1 0"/>
<site name="thrustxy"/>
</body>
</worldbody>
<actuator>
<motor name="thrust1" site="thrust1" ctrlrange="-1 1" gear="0 0 50 0 0 0"/>
<motor name="thrust2" site="thrust2" ctrlrange="-1 1" gear="0 0 50 0 0 0"/>
<motor name="x_movement" site="thrustxy" ctrlrange="-1 1" gear="0 0 0 0.09 0 0"/>
<motor name="y_movement" site="thrustxy" ctrlrange="-1 1" gear="0 0 0 0 0.09 0"/>
</actuator>
<sensor>
<rangefinder name="sensor_laser" site="laser_rangefinder"/>
<gyro name="sensor_gyro" site="imu"/>
<accelerometer name="sensor_acc" site="imu"/>
<framequat name="sensor_quat" objtype="site" objname="imu"/>
</sensor>
</mujoco>