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SimCode4D

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KevinjJvc commited on
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Keep SimCode4D scenes and previews; link evaluation runtime on GitHub

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  1. README.md +6 -18
  2. THIRD_PARTY_NOTICES.md +0 -13
  3. data/runtime/artifacts/IND-01-vacuum-living-room/runtime_model.xml +0 -89
  4. data/runtime/artifacts/IND-02-go2-living-room/go2_robot.xml +0 -192
  5. data/runtime/artifacts/IND-02-go2-living-room/runtime_model.xml +0 -76
  6. data/runtime/artifacts/IND-03-vacuum-west/runtime_model.xml +0 -67
  7. data/runtime/artifacts/INS-01-agv-aisle/runtime_model.xml +0 -247
  8. data/runtime/artifacts/INS-02-agv-cargo/runtime_model.xml +0 -129
  9. data/runtime/artifacts/INS-03-weld/runtime_model.xml +0 -164
  10. data/runtime/artifacts/NAT-01-rock-kick/go2_runtime.xml +0 -185
  11. data/runtime/artifacts/NAT-01-rock-kick/m1_world.xml +0 -0
  12. data/runtime/artifacts/NAT-02-hills-turn-stop/jackal_runtime.xml +0 -85
  13. data/runtime/artifacts/NAT-02-hills-turn-stop/m1_world.xml +0 -0
  14. data/runtime/artifacts/NAT-03-water-land/m1_world.xml +0 -0
  15. data/runtime/artifacts/SER-01-medicine/m1_world.xml +0 -94
  16. data/runtime/artifacts/SER-02-airport-luggage/m1_world.xml +0 -111
  17. data/runtime/artifacts/SER-03-hotel-drawer/m1_world.xml +0 -84
  18. data/runtime/artifacts/URB-01-agv-city/runtime_model.xml +0 -132
  19. data/runtime/artifacts/URB-02-intersection/runtime_model.xml +0 -254
  20. data/runtime/artifacts/URB-03-pole-blocking/runtime_model.xml +0 -229
  21. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_00.obj +0 -334
  22. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_01.obj +0 -1309
  23. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_02.obj +0 -802
  24. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_03.obj +0 -538
  25. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_04.obj +0 -1303
  26. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_05.obj +0 -235
  27. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_06.obj +0 -1279
  28. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_07.obj +0 -196
  29. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_08.obj +0 -871
  30. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_09.obj +0 -145
  31. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_10.obj +0 -361
  32. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_11.obj +0 -373
  33. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_12.obj +0 -991
  34. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_13.obj +0 -451
  35. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_14.obj +0 -358
  36. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_15.obj +0 -274
  37. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_16.obj +0 -202
  38. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_17.obj +0 -133
  39. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_18.obj +0 -103
  40. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_19.obj +0 -22
  41. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_20.obj +0 -283
  42. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_21.obj +0 -397
  43. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_22.obj +0 -115
  44. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_000_BoulderFactory(543568399)_spawn_asset(0)_col_23.obj +0 -130
  45. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_00.obj +0 -187
  46. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_01.obj +0 -709
  47. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_02.obj +0 -145
  48. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_03.obj +0 -193
  49. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_04.obj +0 -28
  50. data/runtime/assets/nat01_meshes/module1/collision/prop_concave_large_059_BoulderFactory(543568399)_spawn_placeholder(51)_col_05.obj +0 -73
README.md CHANGED
@@ -15,27 +15,15 @@ configs:
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  - config_name: dev15
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  data_files:
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  - split: validation
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- path: data/dev15.jsonl
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  ---
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  # SimCode4D DEV15
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- The 15-scene **development benchmark** for [Code2Worlds-2](https://github.com/AIGeeksGroup/Code2Worlds-2). It has three scenes each in indoor, industrial, natural outdoor, service, and urban domains. The Dataset Viewer lists scene prompts and file paths; it does not show method scores.
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- ## Data
 
 
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- - [`data/dev15.jsonl`](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/blob/main/data/dev15.jsonl): the 15-case index and task prompts.
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- - [`data/runtime/`](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/data/runtime): all 15 loadable MuJoCo worlds and their required assets, available as individual files.
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- - [`blender_sources/`](https://huggingface.co/datasets/AIGeeksGroup/SimCode4D/tree/main/blender_sources): 12 archived `.blend` projects. Six natural outdoor and service cases also contain three Blender animation frames beside their project file.
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-
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- The three indoor authoring `.blend` files were not archived; their runnable worlds are included. Missing `.blend` and preview paths are `null` in the index. This is a development/validation split, not a hidden test set.
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-
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- ## Evaluation
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-
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- The [version-matched GitHub benchmark guide](https://github.com/AIGeeksGroup/Code2Worlds-2/blob/ca35f25cda19aadf1d211ae3e55e390905507f1d/benchmark/simcode4d_unified/README.md) provides the frozen case specifications, gold labels, probes, validators, metric implementations, and submission scorer. Its checkout already includes the same runtime assets, so use that guide to run or score the benchmark; no second download of this dataset is needed for scoring.
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-
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- The public scorer reports runtime entity-binding F1. The paper's source-name binding F1 requires authoring-source catalogs outside this release and is reported as `null`.
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-
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- ## Provenance
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-
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- See [`THIRD_PARTY_NOTICES.md`](THIRD_PARTY_NOTICES.md) for included robot-asset notices. No dataset-wide license is asserted here.
 
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  - config_name: dev15
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  data_files:
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  - split: validation
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+ path: data/scenes.jsonl
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  ---
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  # SimCode4D DEV15
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+ A 15-scene development benchmark for [Code2Worlds-2](https://github.com/AIGeeksGroup/Code2Worlds-2), spanning indoor, industrial, natural outdoor, service, and urban tasks.
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+ - [Scene index](data/scenes.jsonl): case IDs, task prompts, and links to the corresponding runtime models in GitHub. The **Dataset Viewer** displays these 15 validation cases.
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+ - [Blender sources](blender_sources): 12 original `.blend` projects. The six natural and service scenes each include three animation preview frames beside the project file.
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+ - [Benchmark code and runtime](https://github.com/AIGeeksGroup/Code2Worlds-2/tree/main/benchmark/simcode4d_unified): all 15 executable MuJoCo worlds, required assets, frozen case definitions, validators, metrics, and submission scorer. Follow the [benchmark guide](https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/benchmark/simcode4d_unified/README.md) to run an evaluation.
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+ The runtime files are hosted in GitHub; this dataset adds the authoring scenes and visual previews. See the [third-party notices](https://github.com/AIGeeksGroup/Code2Worlds-2/blob/main/THIRD_PARTY_NOTICES.md) for the runtime assets.
 
 
 
 
 
 
 
 
 
 
 
 
 
 
THIRD_PARTY_NOTICES.md DELETED
@@ -1,13 +0,0 @@
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- # Third-party asset notices
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-
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- SimCode4D includes selected robot model files and meshes needed by its MuJoCo runtime worlds. The original notices are retained next to those files:
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-
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- | Asset | Included notice |
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- | --- | --- |
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- | Unitree Go2 | [`data/runtime/vendor/handover9_20260921/unitree_go2/LICENSE`](data/runtime/vendor/handover9_20260921/unitree_go2/LICENSE) |
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- | Universal Robots UR5e | [`data/runtime/vendor/handover9_20260921/universal_robots_ur5e/LICENSE`](data/runtime/vendor/handover9_20260921/universal_robots_ur5e/LICENSE) |
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- | Clearpath Jackal UGV | [`data/runtime/vendor/jackal_ugv/LICENSE.clearpath`](data/runtime/vendor/jackal_ugv/LICENSE.clearpath) |
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-
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- These notices document the original copyright holders and redistribution conditions for the included third-party files. This document is not a license for the entire SimCode4D dataset or its Blender projects.
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-
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- The Code2Worlds source snapshot is distributed separately in the [Code2Worlds-2 GitHub repository](https://github.com/AIGeeksGroup/Code2Worlds-2/tree/main/third_party/Code2Worlds). Infinigen is not included in this dataset.
 
 
 
 
 
 
 
 
 
 
 
 
 
 
data/runtime/artifacts/IND-01-vacuum-living-room/runtime_model.xml DELETED
@@ -1,89 +0,0 @@
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- <?xml version='1.0' encoding='utf-8'?>
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- <mujoco model="scene_enriched">
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- <compiler angle="radian" autolimits="true" />
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- <option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" cone="elliptic" />
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- <visual>
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- <headlight diffuse="0.7 0.65 0.55" ambient="0.35 0.35 0.35" specular="0 0 0" />
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- <global azimuth="120" elevation="-20" offwidth="1280" offheight="720" />
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- </visual>
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- <asset>
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-
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- </asset>
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- <worldbody>
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- <light name="sun" pos="0 0 30" dir="-0.3 -0.2 -1" directional="true" diffuse="0.9 0.85 0.7" specular="0.2 0.2 0.2" />
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- <geom name="floor_00" type="box" pos="8.067328 -0.250000 0.134657" size="0.932672 2.115343 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="floor_01" type="box" pos="3.750000 1.567329 0.128334" size="3.115343 3.432671 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="floor_02" type="box" pos="7.932672 11.682672 0.134657" size="2.932672 2.682672 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="floor_03" type="box" pos="2.567328 12.000000 0.134657" size="2.432672 2.865343 0.010000" contype="2" conaffinity="1" friction="0.700 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="wall_00" type="box" pos="8.000000 -0.250000 2.841525" size="0.865343 2.115343 0.010000" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_000_CellShelfFactory(2594816)_spawn_asset(6129099)" type="box" pos="2.207316 5.204681 0.134673" size="0.924416 0.198892 0.923665" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_001_CellShelfFactory(3658341)_spawn_asset(2973726)" type="box" pos="8.028561 2.204621 0.135059" size="0.699549 0.223240 0.922099" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_002_CellShelfFactory(919564)_spawn_asset(4008509)" type="box" pos="11.795400 3.224719 0.134657" size="0.162436 1.066539 1.065789" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_003_LargePlantContainerFactory(8956576)_spawn_asset(5265333)" type="box" pos="0.673025 8.332573 0.154657" size="0.263277 0.263277 0.732637" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_004_LargeShelfFactory(1909210)_spawn_asset(4134768)" type="box" pos="9.070370 8.660480 0.134744" size="0.785156 0.130812 1.015761" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_005_MirrorFactory(8331394)_spawn_asset(7883318)" type="box" pos="7.144657 4.277977 1.641470" size="0.008518 0.442231 0.258499" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_006_NatureShelfTrinketsFactory(1091087)_spawn_asset(7297279)" type="box" pos="9.710155 8.672622 1.594450" size="0.072735 0.059492 0.057425" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_010_NatureShelfTrinketsFactory(7330329)_spawn_asset(5605441)" type="box" pos="11.683038 1.699951 0.715253" size="0.065448 0.057043 0.019313" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_011_NatureShelfTrinketsFactory(7597836)_spawn_asset(9528118)" type="box" pos="11.619063 3.970124 0.644887" size="0.047371 0.055515 0.040226" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_012_NatureShelfTrinketsFactory(7775217)_spawn_asset(2021457)" type="box" pos="11.735563 2.745263 1.883516" size="0.035466 0.050498 0.028979" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
58
- <geom name="prop_concave_large_013_NatureShelfTrinketsFactory(7835494)_spawn_asset(7490480)" type="box" pos="11.583894 1.996402 0.391821" size="0.069399 0.045650 0.043623" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_014_NatureShelfTrinketsFactory(8323276)_spawn_asset(9064779)" type="box" pos="11.648866 3.229121 2.331721" size="0.015791 0.065988 0.033128" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_015_NatureShelfTrinketsFactory(8326211)_spawn_asset(5145731)" type="box" pos="11.642181 2.850970 1.479555" size="0.016264 0.061085 0.034089" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_016_SideTableFactory(1977044)_spawn_asset(8198684)" type="box" pos="7.603278 5.435551 0.146102" size="0.279684 0.279684 0.233686" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_017_SimpleBookcaseFactory(9201065)_spawn_asset(4193220)" type="box" pos="11.632156 1.829523 0.134616" size="0.157192 0.271506 0.421471" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_018_SimpleDeskFactory(4333946)_spawn_asset(6424688)" type="box" pos="4.190810 8.432079 0.134958" size="0.548730 0.363213 0.372470" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_019_SofaFactory(4061307)_spawn_asset(1597680)" type="box" pos="7.240608 3.890232 0.240755" size="0.834969 1.215595 0.511808" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_020_TVStandFactory(8574063)_spawn_asset(5206710)" type="box" pos="11.794870 6.351633 0.134654" size="0.171654 0.708832 0.258656" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="lr_wall_0" type="box" pos="6.0 9.05 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="lr_wall_1" type="box" pos="6.0 0.08 1.4" size="6.0 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
68
- <geom name="lr_wall_2" type="box" pos="0.08 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="lr_wall_3" type="box" pos="12.05 4.5 1.4" size="0.05 4.5 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
70
- <geom name="lr_wall_4" type="box" pos="3.63 5.13 1.4" size="3.5 0.05 1.4" contype="2" conaffinity="1" friction="0.5 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <body name="robot" pos="8.5 5.5 0.16">
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- <freejoint name="robot_freejoint" />
73
- <geom name="robot_chassis" type="cylinder" size="0.19 0.025" pos="0 0 0.025" rgba="0.09 0.10 0.12 1" friction="0.8" condim="3" density="800" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="robot_lid" type="cylinder" size="0.15 0.015" pos="0 0 0.065" rgba="0.75 0.76 0.78 1" condim="3" density="200" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="robot_bumper" type="cylinder" size="0.19 0.012" pos="0 0 0.012" rgba="0.28 0.29 0.28 1" friction="0.9" condim="3" density="200" contype="0" conaffinity="0" />
76
- </body>
77
- </worldbody>
78
- <actuator>
79
- <motor name="base_force_x_ctrl" joint="robot_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-120 120" />
80
- <motor name="base_force_y_ctrl" joint="robot_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-120 120" />
81
- <motor name="base_force_z_ctrl" joint="robot_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-80 80" />
82
- <motor name="base_roll_ctrl" joint="robot_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-35 35" />
83
- <motor name="base_pitch_ctrl" joint="robot_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-35 35" />
84
- <motor name="base_yaw_ctrl" joint="robot_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-35 35" />
85
- </actuator>
86
- <keyframe>
87
- <key name="m2_init" qpos="8.5 5.5 0.16 1 0 0 0" qvel="0 0 0 0 0 0" />
88
- </keyframe>
89
- </mujoco>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
data/runtime/artifacts/IND-02-go2-living-room/go2_robot.xml DELETED
@@ -1,192 +0,0 @@
1
- <?xml version='1.0' encoding='utf-8'?>
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- <mujoco model="go2">
3
- <compiler angle="radian" autolimits="true" />
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- <option cone="elliptic" impratio="100" timestep="0.001" integrator="implicitfast" solver="Newton" iterations="100" tolerance="1e-10" />
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- <default>
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- <default class="go2">
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- <geom friction="0.6" margin="0.001" condim="1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <joint axis="0 1 0" damping="2" armature="0.01" frictionloss="0.2" />
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- <motor ctrlrange="-23.7 23.7" />
10
- <default class="abduction">
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- <joint axis="1 0 0" range="-1.0472 1.0472" />
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- </default>
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- <default class="hip">
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- <default class="front_hip">
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- <joint range="-1.5708 3.4907" />
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- </default>
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- <default class="back_hip">
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- <joint range="-0.5236 4.5379" />
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- </default>
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- </default>
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- <default class="knee">
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- <joint range="-2.7227 -0.83776" />
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- <motor ctrlrange="-45.43 45.43" />
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- </default>
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- <default class="visual">
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- <geom type="mesh" contype="0" conaffinity="0" group="2" />
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- </default>
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- <default class="collision">
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- <geom group="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
30
- <default class="foot">
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- <geom size="0.022" pos="-0.002 0 -0.213" priority="1" solimp="0.99 0.999 0.001 0.5 2" condim="6" friction="0.8 0.02 0.01" solref="0.002 1" />
32
- </default>
33
- </default>
34
- </default>
35
- </default>
36
- <asset>
37
- <material name="metal" rgba=".9 .95 .95 1" />
38
- <material name="black" rgba="0 0 0 1" />
39
- <material name="white" rgba="1 1 1 1" />
40
- <material name="gray" rgba="0.671705 0.692426 0.774270 1" />
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- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_0.obj" />
42
- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_1.obj" />
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- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_2.obj" />
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- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_3.obj" />
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- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/base_4.obj" />
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- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_0.obj" />
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- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/hip_1.obj" />
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- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_0.obj" />
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- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_1.obj" />
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- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_0.obj" />
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- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/thigh_mirror_1.obj" />
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- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_0.obj" />
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- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_1.obj" />
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- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_0.obj" />
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- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/calf_mirror_1.obj" />
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- <mesh file="../../vendor/handover9_20260921/unitree_go2/assets/foot.obj" />
57
- </asset>
58
- <worldbody>
59
- <body name="base" pos="0 0 0.445" childclass="go2">
60
- <inertial pos="0.021112 0 -0.005366" quat="-0.000543471 0.713435 -0.00173769 0.700719" mass="6.921" diaginertia="0.107027 0.0980771 0.0244531" />
61
- <freejoint name="go2_freejoint" />
62
- <geom mesh="base_0" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
63
- <geom mesh="base_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
64
- <geom mesh="base_2" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom mesh="base_3" material="white" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom mesh="base_4" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom size="0.1881 0.04675 0.057" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
69
- <geom size="0.047" pos="0.293 0 -0.06" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
70
- <site name="imu" pos="-0.02557 0 0.04232" />
71
- <body name="FL_hip" pos="0.1934 0.0465 0">
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- <inertial pos="-0.0054 0.00194 -0.000105" quat="0.497014 0.499245 0.505462 0.498237" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
73
- <joint name="FL_hip_joint" class="abduction" />
74
- <geom mesh="hip_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
75
- <geom mesh="hip_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
76
- <geom size="0.046 0.02" pos="0 0.08 0" quat="1 1 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
77
- <body name="FL_thigh" pos="0 0.0955 0">
78
- <inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
79
- <joint name="FL_thigh_joint" class="front_hip" />
80
- <geom mesh="thigh_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
81
- <geom mesh="thigh_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
82
- <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
83
- <body name="FL_calf" pos="0 0 -0.213">
84
- <inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
85
- <joint name="FL_calf_joint" class="knee" />
86
- <geom mesh="calf_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
87
- <geom mesh="calf_1" material="black" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
88
- <geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
89
- <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
90
- <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
91
- <geom name="FL" class="foot" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
92
- </body>
93
- </body>
94
- </body>
95
- <body name="FR_hip" pos="0.1934 -0.0465 0">
96
- <inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
97
- <joint name="FR_hip_joint" class="abduction" />
98
- <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
99
- <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
101
- <body name="FR_thigh" pos="0 -0.0955 0">
102
- <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
103
- <joint name="FR_thigh_joint" class="front_hip" />
104
- <geom mesh="thigh_mirror_0" material="metal" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
105
- <geom mesh="thigh_mirror_1" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
106
- <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
107
- <body name="FR_calf" pos="0 0 -0.213">
108
- <inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
109
- <joint name="FR_calf_joint" class="knee" />
110
- <geom mesh="calf_mirror_0" material="gray" class="visual" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
111
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data/runtime/artifacts/IND-03-vacuum-west/runtime_model.xml DELETED
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- <geom name="wall_52" type="box" pos="6.710470 3.282030 1.492194" size="0.092335 0.606077 0.528420" contype="2" conaffinity="1" friction="0.500 0.005 0.0001" condim="3" rgba="0.7 0.65 0.55 1" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="prop_concave_large_001_LargeShelfFactory(7187033)_spawn_asset(5070133)" type="box" pos="8.644208 4.475750 0.148413" size="0.133380 0.175760 0.765355" contype="2" conaffinity="1" friction="0.6 0.005 0.0001" condim="3" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="robot_chassis" type="cylinder" size="0.19 0.025" pos="0 0 0.025" rgba="0.09 0.10 0.12 1" friction="0.8" condim="3" density="800" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom name="robot_bumper" type="cylinder" size="0.19 0.012" pos="0 0 0.012" rgba="0.28 0.29 0.28 1" friction="0.9" condim="3" density="200" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- </body>
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- </worldbody>
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- <actuator>
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- <motor name="base_force_x_ctrl" joint="robot_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-120 120" />
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- <motor name="base_force_y_ctrl" joint="robot_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-120 120" />
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- <motor name="base_force_z_ctrl" joint="robot_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-80 80" />
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- <joint name="fl_wheel_joint" axis="0 1 0" />
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- <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <joint name="fr_wheel_joint" axis="0 1 0" />
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- <geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_fr_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
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- <joint name="rl_wheel_joint" axis="0 1 0" />
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- <geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_rl_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
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- <joint name="rr_wheel_joint" axis="0 1 0" />
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- <geom class="rover_visual" mesh="rover_wheel" material="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- <geom class="rover_wheel" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" name="rover_rr_wheel_collision" type="cylinder" size="0.12 0.03" quat="0.7071067811865476 0.7071067811865476 0 0" />
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- </body>
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- <body name="cargo" pos="0 -2 0.501">
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- <freejoint name="cargo_freejoint" />
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- <key name="m2_init" qpos="0 -2 0.221 1 0 0 0 0 0 0 0 0 -2 0.501 1 0 0 0" qvel="0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0 0 0 0 0 0" />
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- <velocity name="fr_wheel" joint="fr_wheel_joint" kv="60" />
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- <velocity name="rl_wheel" joint="rl_wheel_joint" kv="60" />
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- <motor name="base_force_y_ctrl" joint="rover_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-240 240" />
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- <motor name="base_force_z_ctrl" joint="rover_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-180 180" />
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- <motor name="base_roll_ctrl" joint="rover_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-130 130" />
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- <motor name="base_pitch_ctrl" joint="rover_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-130 130" />
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- <motor name="base_yaw_ctrl" joint="rover_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-130 130" />
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- </actuator>
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- <equality>
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- <weld name="cargo_weld" body1="rover_base" body2="cargo" relpose="0 0 0.28 1 0 0 0" active="true" solref="0.002 1" solimp="0.99 0.999 0.001 0.5 2" />
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- </equality>
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- </mujoco>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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- <geom mesh="calf_1" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
87
- <geom size="0.012 0.06" pos="0.008 0 -0.06" quat="0.994493 0 -0.104807 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
88
- <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
89
- <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
90
- <geom name="FL" class="foot" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
91
- </body>
92
- </body>
93
- </body>
94
- <body name="FR_hip" pos="0.1934 -0.0465 0">
95
- <inertial pos="-0.0054 -0.00194 -0.000105" quat="0.498237 0.505462 0.499245 0.497014" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
96
- <joint name="FR_hip_joint" class="abduction" />
97
- <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 1 0 0" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
98
- <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 1 0 0" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
99
- <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
100
- <body name="FR_thigh" pos="0 -0.0955 0">
101
- <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
102
- <joint name="FR_thigh_joint" class="front_hip" />
103
- <geom mesh="thigh_mirror_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
104
- <geom mesh="thigh_mirror_1" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
105
- <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
106
- <body name="FR_calf" pos="0 0 -0.213">
107
- <inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
108
- <joint name="FR_calf_joint" class="knee" />
109
- <geom mesh="calf_mirror_0" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
110
- <geom mesh="calf_mirror_1" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
111
- <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
112
- <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
113
- <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
114
- <geom name="FR" class="foot" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
115
- </body>
116
- </body>
117
- </body>
118
- <body name="RL_hip" pos="-0.1934 0.0465 0">
119
- <inertial pos="0.0054 0.00194 -0.000105" quat="0.505462 0.498237 0.497014 0.499245" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
120
- <joint name="RL_hip_joint" class="abduction" />
121
- <geom mesh="hip_0" material="metal" class="visual" quat="4.63268e-05 0 1 0" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
122
- <geom mesh="hip_1" material="gray" class="visual" quat="4.63268e-05 0 1 0" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
123
- <geom size="0.046 0.02" pos="0 0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
124
- <body name="RL_thigh" pos="0 0.0955 0">
125
- <inertial pos="-0.00374 -0.0223 -0.0327" quat="0.829533 0.0847635 -0.0200632 0.551623" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
126
- <joint name="RL_thigh_joint" class="back_hip" />
127
- <geom mesh="thigh_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
128
- <geom mesh="thigh_1" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
129
- <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
130
- <body name="RL_calf" pos="0 0 -0.213">
131
- <inertial pos="0.00629595 -0.000622121 -0.141417" quat="0.710672 0.00154099 -0.00450087 0.703508" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
132
- <joint name="RL_calf_joint" class="knee" />
133
- <geom mesh="calf_0" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
134
- <geom mesh="calf_1" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
135
- <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
136
- <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
137
- <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
138
- <geom name="RL" class="foot" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
139
- </body>
140
- </body>
141
- </body>
142
- <body name="RR_hip" pos="-0.1934 -0.0465 0">
143
- <inertial pos="0.0054 -0.00194 -0.000105" quat="0.499245 0.497014 0.498237 0.505462" mass="0.678" diaginertia="0.00088403 0.000596003 0.000479967" />
144
- <joint name="RR_hip_joint" class="abduction" />
145
- <geom mesh="hip_0" material="metal" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
146
- <geom mesh="hip_1" material="gray" class="visual" quat="2.14617e-09 4.63268e-05 4.63268e-05 -1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
147
- <geom size="0.046 0.02" pos="0 -0.08 0" quat="0.707107 0.707107 0 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
148
- <body name="RR_thigh" pos="0 -0.0955 0">
149
- <inertial pos="-0.00374 0.0223 -0.0327" quat="0.551623 -0.0200632 0.0847635 0.829533" mass="1.152" diaginertia="0.00594973 0.00584149 0.000878787" />
150
- <joint name="RR_thigh_joint" class="back_hip" />
151
- <geom mesh="thigh_mirror_0" material="metal" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
152
- <geom mesh="thigh_mirror_1" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
153
- <geom size="0.1065 0.01225 0.017" pos="0 0 -0.1065" quat="0.707107 0 0.707107 0" type="box" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
154
- <body name="RR_calf" pos="0 0 -0.213">
155
- <inertial pos="0.00629595 0.000622121 -0.141417" quat="0.703508 -0.00450087 0.00154099 0.710672" mass="0.241352" diaginertia="0.0014901 0.00146356 5.31397e-05" />
156
- <joint name="RR_calf_joint" class="knee" />
157
- <geom mesh="calf_mirror_0" material="gray" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
158
- <geom mesh="calf_mirror_1" material="black" class="visual" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
159
- <geom size="0.013 0.06" pos="0.01 0 -0.06" quat="0.995004 0 -0.0998334 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
160
- <geom size="0.011 0.0325" pos="0.02 0 -0.148" quat="0.999688 0 0.0249974 0" type="cylinder" class="collision" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
161
- <geom pos="0 0 -0.213" mesh="foot" class="visual" material="black" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
162
- <geom name="RR" class="foot" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
163
- </body>
164
- </body>
165
- </body>
166
- </body>
167
- </worldbody>
168
- <actuator>
169
- <motor class="abduction" name="FL_hip" joint="FL_hip_joint" />
170
- <motor class="hip" name="FL_thigh" joint="FL_thigh_joint" />
171
- <motor class="knee" name="FL_calf" joint="FL_calf_joint" />
172
- <motor class="abduction" name="FR_hip" joint="FR_hip_joint" />
173
- <motor class="hip" name="FR_thigh" joint="FR_thigh_joint" />
174
- <motor class="knee" name="FR_calf" joint="FR_calf_joint" />
175
- <motor class="abduction" name="RL_hip" joint="RL_hip_joint" />
176
- <motor class="hip" name="RL_thigh" joint="RL_thigh_joint" />
177
- <motor class="knee" name="RL_calf" joint="RL_calf_joint" />
178
- <motor class="abduction" name="RR_hip" joint="RR_hip_joint" />
179
- <motor class="hip" name="RR_thigh" joint="RR_thigh_joint" />
180
- <motor class="knee" name="RR_calf" joint="RR_calf_joint" />
181
- </actuator>
182
- <keyframe>
183
- <key name="home" qpos="0 0 0.27 1 0 0 0 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" ctrl="0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8 0 0.9 -1.8" />
184
- </keyframe>
185
- </mujoco>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
data/runtime/artifacts/NAT-01-rock-kick/m1_world.xml DELETED
The diff for this file is too large to render. See raw diff
 
data/runtime/artifacts/NAT-02-hills-turn-stop/jackal_runtime.xml DELETED
@@ -1,85 +0,0 @@
1
- <mujoco model="clearpath_jackal_ugv">
2
- <compiler angle="degree" autolimits="true" />
3
- <asset>
4
- <mesh name="jackal_base" file="../../vendor/jackal_ugv/assets/jackal_base.stl" scale="4.05 4.05 4.05" />
5
- <mesh name="jackal_fender" file="../../vendor/jackal_ugv/assets/jackal_fender.stl" scale="4.05 4.05 4.05" />
6
- <mesh name="jackal_wheel" file="../../vendor/jackal_ugv/assets/jackal_wheel.stl" scale="4.05 4.05 4.05" />
7
- <material name="jackal_black" rgba="0.10 0.11 0.10 1" />
8
- <material name="jackal_yellow" rgba="0.80 0.62 0.03 1" />
9
- <material name="jackal_tire" rgba="0.035 0.035 0.035 1" />
10
- <material name="jackal_sensor" rgba="0.35 0.38 0.39 1" />
11
- </asset>
12
- <default>
13
- <joint damping="0.08" armature="0.01" />
14
- <geom friction="1.4 0.02 0.001" condim="4" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
15
- </default>
16
- <worldbody>
17
- <body name="jackal_base">
18
- <freejoint name="jackal_freejoint" />
19
- <inertial pos="0.036 0.006 0.201" mass="446.121" fullinertia="76.2048 95.3046 108.9855 -0.1944 3.9852 -0.2187" />
20
- <geom name="jackal_body_visual" type="mesh" mesh="jackal_base" pos="0 0 -0.265275" quat="0.5 0.5 0.5 0.5" material="jackal_black" group="2" contype="0" conaffinity="0" />
21
- <geom name="jackal_chassis_collision" type="box" pos="0 0 0.3726" size="0.8505 0.62775 0.3726" group="3" rgba="0 0 0 0" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
22
- <geom name="jackal_left_guard_visual" type="box" pos="0 0.83025 0.4779" size="0.91125 0.0729 0.162" material="jackal_yellow" group="2" contype="0" conaffinity="0" />
23
- <geom name="jackal_right_guard_visual" type="box" pos="0 -0.83025 0.4779" size="0.91125 0.0729 0.162" material="jackal_yellow" group="2" contype="0" conaffinity="0" />
24
- <geom name="jackal_front_bumper_visual" type="box" pos="0.95175 0 0.30375" size="0.10125 0.70875 0.14175" material="jackal_black" group="2" contype="0" conaffinity="0" />
25
- <body name="jackal_lidar_mount" pos="0.18225 0 0.87075">
26
- <geom name="jackal_lidar_pedestal_visual" type="cylinder" size="0.1296 0.0729" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
27
- <geom name="jackal_lidar_visual" type="cylinder" pos="0 0 0.1053" size="0.1944 0.0486" material="jackal_black" group="2" contype="0" conaffinity="0" />
28
- </body>
29
- <body name="jackal_front_fender">
30
- <geom name="jackal_front_fender_visual" type="mesh" mesh="jackal_fender" material="jackal_yellow" group="2" contype="0" conaffinity="0" />
31
- </body>
32
- <body name="jackal_rear_fender" euler="0 0 180">
33
- <geom name="jackal_rear_fender_visual" type="mesh" mesh="jackal_fender" material="jackal_yellow" group="2" contype="0" conaffinity="0" />
34
- </body>
35
- <body name="jackal_front_left_wheel" pos="0.53055 0.76056975 0.139725">
36
- <joint name="jackal_front_left_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
37
- <joint name="jackal_front_left_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
38
- <inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
39
- <geom name="jackal_front_left_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
40
- <geom name="jackal_front_left_collision" type="sphere" size=".3969" group="3" rgba="0 0 0 0" friction=".8 .02 .001" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
41
- </body>
42
- <body name="jackal_front_right_wheel" pos="0.53055 -0.76056975 0.139725">
43
- <joint name="jackal_front_right_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
44
- <joint name="jackal_front_right_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
45
- <inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
46
- <geom name="jackal_front_right_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
47
- <geom name="jackal_front_right_collision" type="sphere" size=".3969" group="3" rgba="0 0 0 0" friction=".8 .02 .001" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
48
- </body>
49
- <body name="jackal_rear_left_wheel" pos="-0.53055 0.76056975 0.139725">
50
- <joint name="jackal_rear_left_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
51
- <joint name="jackal_rear_left_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
52
- <inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
53
- <geom name="jackal_rear_left_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
54
- <geom name="jackal_rear_left_collision" type="sphere" size=".3969" group="3" rgba="0 0 0 0" friction=".8 .02 .001" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
55
- </body>
56
- <body name="jackal_rear_right_wheel" pos="-0.53055 -0.76056975 0.139725">
57
- <joint name="jackal_rear_right_suspension" type="slide" axis="0 0 1" limited="true" range="-.08 .18" stiffness="30000" damping="2000" springref="0" />
58
- <joint name="jackal_rear_right_joint" type="hinge" axis="0 1 0" damping="2" armature=".08" />
59
- <inertial pos="0 0 0" mass="12.879" diaginertia="0.3159 0.5832 0.3159" />
60
- <geom name="jackal_rear_right_visual" type="mesh" mesh="jackal_wheel" euler="90 0 0" material="jackal_tire" group="2" contype="0" conaffinity="0" />
61
- <geom name="jackal_rear_right_collision" type="sphere" size=".3969" group="3" rgba="0 0 0 0" friction=".8 .02 .001" solref=".0025 1" solimp=".95 .99 .001" margin=".003" />
62
- </body>
63
- <geom name="jackal_front_left_rim_visual" type="cylinder" pos="0.53055 0.84757 0.139725" size="0.210 0.024" euler="90 0 0" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
64
- <geom name="jackal_front_right_rim_visual" type="cylinder" pos="0.53055 -0.84757 0.139725" size="0.210 0.024" euler="90 0 0" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
65
- <geom name="jackal_rear_left_rim_visual" type="cylinder" pos="-0.53055 0.84757 0.139725" size="0.210 0.024" euler="90 0 0" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
66
- <geom name="jackal_rear_right_rim_visual" type="cylinder" pos="-0.53055 -0.84757 0.139725" size="0.210 0.024" euler="90 0 0" material="jackal_sensor" group="2" contype="0" conaffinity="0" />
67
- <geom name="jackal_left_led_visual" type="box" pos="1.0125 0.405 0.450" size="0.030 0.090 0.055" rgba="1 0.82 0.32 1" group="2" contype="0" conaffinity="0" />
68
- <geom name="jackal_right_led_visual" type="box" pos="1.0125 -0.405 0.450" size="0.030 0.090 0.055" rgba="1 0.82 0.32 1" group="2" contype="0" conaffinity="0" />
69
- <geom name="jackal_left_roof_rail_visual" type="box" pos="0 0.465 0.810" size="0.465 0.030 0.030" material="jackal_black" group="2" contype="0" conaffinity="0" />
70
- <geom name="jackal_right_roof_rail_visual" type="box" pos="0 -0.465 0.810" size="0.465 0.030 0.030" material="jackal_black" group="2" contype="0" conaffinity="0" />
71
- </body>
72
- </worldbody>
73
- <actuator>
74
- <motor name="jackal_front_left_motor" joint="jackal_front_left_joint" gear="400" ctrlrange="-1 1" />
75
- <motor name="jackal_front_right_motor" joint="jackal_front_right_joint" gear="400" ctrlrange="-1 1" />
76
- <motor name="jackal_rear_left_motor" joint="jackal_rear_left_joint" gear="400" ctrlrange="-1 1" />
77
- <motor name="jackal_rear_right_motor" joint="jackal_rear_right_joint" gear="400" ctrlrange="-1 1" />
78
- <motor name="base_force_x_ctrl" joint="jackal_freejoint" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-5000 5000" />
79
- <motor name="base_force_y_ctrl" joint="jackal_freejoint" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-5000 5000" />
80
- <motor name="base_force_z_ctrl" joint="jackal_freejoint" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
81
- <motor name="base_roll_ctrl" joint="jackal_freejoint" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
82
- <motor name="base_pitch_ctrl" joint="jackal_freejoint" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-5500 5500" />
83
- <motor name="base_yaw_ctrl" joint="jackal_freejoint" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-650 650" />
84
- </actuator>
85
- </mujoco>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
data/runtime/artifacts/NAT-02-hills-turn-stop/m1_world.xml DELETED
The diff for this file is too large to render. See raw diff
 
data/runtime/artifacts/NAT-03-water-land/m1_world.xml DELETED
The diff for this file is too large to render. See raw diff
 
data/runtime/artifacts/SER-01-medicine/m1_world.xml DELETED
@@ -1,94 +0,0 @@
1
- <mujoco model="scene_indoor_service_final_real8s">
2
- <compiler angle="radian" autolimits="true" balanceinertia="true" />
3
- <option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" cone="elliptic" iterations="120" tolerance="1e-10" />
4
- <default>
5
- <geom solref=".002 1" solimp=".995 .9999 .0002" condim="4" friction=".75 .02 .002" margin="0.003" />
6
- </default>
7
- <asset>
8
- <material name="floor_mat" rgba=".55 .57 .59 1" />
9
- <material name="wall" rgba=".72 .73 .73 1" />
10
- <material name="wood" rgba=".45 .24 .10 1" />
11
- <material name="metal" rgba=".34 .38 .40 1" />
12
- <material name="fabric" rgba=".10 .30 .42 1" />
13
- <material name="package" rgba=".56 .27 .07 1" />
14
- <material name="dark" rgba=".03 .04 .05 1" />
15
- <material name="robot" rgba=".74 .79 .80 1" />
16
- <material name="rubber" rgba=".012 .014 .016 1" />
17
- <material name="service" rgba=".12 .58 .50 1" />
18
- <material name="airport" rgba=".05 .35 .70 1" />
19
- <material name="hotel" rgba=".62 .31 .08 1" />
20
- </asset>
21
- <worldbody>
22
- <light directional="true" pos="-5 -6 11" dir=".3 .35 -1" />
23
- <geom name="floor" type="box" pos="0 0 -.05" size="7.0 7.0 .05" material="floor_mat" friction="1.35 .025 .003" condim="6" priority="2" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
24
- <geom name="wall_back" type="box" pos="0 7.0 2.7" size="7.0 .08 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
25
- <geom name="wall_left" type="box" pos="-7.0 0 2.7" size=".08 7.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
26
- <geom name="wall_right" type="box" pos="7.0 0 2.7" size=".08 7.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
27
- <geom name="surface_service_entry_mat" type="box" pos="-3.48 -3.16 .0025" size="1.42 .58 .0025" material="service" friction="1.08 .035 .004" condim="6" priority="3" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
28
- <geom name="surface_service_tile_joint_a" type="capsule" fromto="-3.72 -1.94 .006 -2.30 -1.94 .006" size=".006" material="metal" friction=".82 .020 .002" condim="6" priority="4" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
29
- <geom name="surface_service_tile_joint_b" type="capsule" fromto="-3.62 -.46 .005 -2.38 -.46 .005" size=".005" material="metal" friction=".86 .020 .002" condim="6" priority="4" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
30
- <geom name="counter_left" type="box" pos="-3.1 2.8 .62" size="2.2 .65 .62" material="wood" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
31
- <geom name="counter_right" type="box" pos="3.1 2.8 .62" size="2.2 .65 .62" material="wood" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
32
- <geom name="counter_top_left" type="box" pos="-3.1 2.65 1.30" size="2.25 .78 .06" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
33
- <geom name="counter_top_right" type="box" pos="3.1 2.65 1.30" size="2.25 .78 .06" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
34
- <geom name="left_bench" type="box" pos="-4.8 -1.1 .48" size="1.15 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
35
- <geom name="left_bench_back" type="box" pos="-4.8 -.68 .92" size="1.15 .10 .48" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
36
- <geom name="queue_post_a" type="cylinder" pos="-2.2 -2.8 .55" size=".09 .55" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
37
- <geom name="queue_post_b" type="cylinder" pos="-2.2 0 .55" size=".09 .55" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
38
- <geom name="queue_rail" type="box" pos="-2.2 -1.4 1.0" size=".035 1.4 .035" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
39
- <body name="task_item" pos="-3.1 2.0 1.43">
40
- <freejoint name="task_item_free" />
41
- <geom name="medicine_pouch" type="box" size=".13 .09 .055" mass=".45" material="package" friction=".72 .025 .003" condim="6" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
42
- </body>
43
- <body name="robot" pos="-4.00000000 -3.79999995 .005">
44
- <freejoint name="root_free" />
45
- <inertial pos="0 0 .35" mass="58" diaginertia="12 12 6" />
46
- <geom name="robot_base_collision" type="cylinder" pos="0 0 .22" size="0.42 .14" material="dark" friction=".55 .015 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
47
- <geom name="robot_body_collision" type="box" pos="0 0 0.68000" size="0.32760 0.26880 0.35000" material="robot" friction=".48 .015 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
48
- <body name="wheel_left" pos="-0.39000 0 0.20000">
49
- <joint name="wheel_left_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
50
- <geom name="wheel_left_geom" type="cylinder" size="0.20000 .065" quat=".70710678 0 .70710678 0" mass="1.4" material="rubber" friction="1.65 .025 .003" condim="6" priority="1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
51
- </body>
52
- <body name="wheel_right" pos="0.39000 0 0.20000">
53
- <joint name="wheel_right_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
54
- <geom name="wheel_right_geom" type="cylinder" size="0.20000 .065" quat=".70710678 0 .70710678 0" mass="1.4" material="rubber" friction="1.65 .025 .003" condim="6" priority="1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
55
- </body>
56
- <body name="caster_front" pos="0 .31 .105">
57
- <joint name="caster_front_ball" type="ball" damping=".002" />
58
- <geom name="caster_front_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
59
- </body>
60
- <body name="caster_rear" pos="0 -.31 .105">
61
- <joint name="caster_rear_ball" type="ball" damping=".002" />
62
- <geom name="caster_rear_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
63
- </body>
64
- <body name="lift_stage" pos="0 .82 1.01">
65
- <joint name="lift_joint" type="slide" axis="0 0 1" range="-.01 0.42" damping="140" frictionloss="8" />
66
- <geom name="lift_carriage_collision" type="box" pos=".22 -.90 .01" size=".13 .12 .16" mass="5" material="service" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
67
- <body name="grasp_frame" pos=".06 0 0">
68
- <joint name="arm_joint" type="slide" axis="0 1 0" range="-.01 0.46" damping="140" frictionloss="8" />
69
- <geom name="gripper_palm_collision" type="box" pos="0 -.10 0" size=".12 .04 .07" mass="2.0" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
70
- <geom name="gripper_finger_l" type="box" pos="-.18 0 0" size=".020 .13 .035" mass=".25" material="metal" friction=".85 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
71
- <geom name="gripper_finger_r" type="box" pos=".18 0 0" size=".020 .13 .035" mass=".25" material="metal" friction=".85 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
72
- </body>
73
- </body>
74
- </body>
75
- </worldbody>
76
- <equality>
77
- <weld name="task_grasp" body1="task_item" body2="grasp_frame" relpose="0 0 0 1 0 0 0" active="false" solref=".012 1" />
78
- </equality>
79
- <actuator>
80
- <velocity name="wheel_left_ctrl" joint="wheel_left_joint" kv="18" forcelimited="true" forcerange="-180 180" />
81
- <velocity name="wheel_right_ctrl" joint="wheel_right_joint" kv="18" forcelimited="true" forcerange="-180 180" />
82
- <position name="lift_ctrl" joint="lift_joint" kp="6000" />
83
- <position name="arm_ctrl" joint="arm_joint" kp="6000" />
84
- <motor name="base_force_x_ctrl" joint="root_free" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
85
- <motor name="base_force_y_ctrl" joint="root_free" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
86
- <motor name="base_force_z_ctrl" joint="root_free" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
87
- <motor name="base_roll_ctrl" joint="root_free" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
88
- <motor name="base_pitch_ctrl" joint="root_free" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-5500 5500" />
89
- <motor name="base_yaw_ctrl" joint="root_free" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-520 520" />
90
- </actuator>
91
- <contact>
92
- <exclude name="benchmark_grasp_clearance" body1="task_item" body2="grasp_frame" />
93
- </contact>
94
- </mujoco>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
data/runtime/artifacts/SER-02-airport-luggage/m1_world.xml DELETED
@@ -1,111 +0,0 @@
1
- <mujoco model="indoor2_airport_final_real8s">
2
- <compiler angle="radian" autolimits="true" balanceinertia="true" />
3
- <option timestep="0.001" gravity="0 0 -9.81" integrator="implicitfast" cone="elliptic" iterations="120" tolerance="1e-10" />
4
- <default>
5
- <geom solref=".002 1" solimp=".995 .9999 .0002" condim="4" friction=".75 .02 .002" margin="0.003" />
6
- </default>
7
- <asset>
8
- <material name="floor_mat" rgba=".55 .57 .59 1" />
9
- <material name="wall" rgba=".72 .73 .73 1" />
10
- <material name="wood" rgba=".45 .24 .10 1" />
11
- <material name="metal" rgba=".34 .38 .40 1" />
12
- <material name="fabric" rgba=".10 .30 .42 1" />
13
- <material name="package" rgba=".56 .27 .07 1" />
14
- <material name="dark" rgba=".03 .04 .05 1" />
15
- <material name="robot" rgba=".74 .79 .80 1" />
16
- <material name="rubber" rgba=".012 .014 .016 1" />
17
- <material name="service" rgba=".12 .58 .50 1" />
18
- <material name="airport" rgba=".05 .35 .70 1" />
19
- <material name="hotel" rgba=".62 .31 .08 1" />
20
- </asset>
21
- <worldbody>
22
- <light directional="true" pos="-5 -6 11" dir=".3 .35 -1" />
23
- <geom name="floor" type="box" pos="0 0 -.05" size="8.0 8.0 .05" material="floor_mat" friction="1.35 .025 .003" condim="6" priority="2" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
24
- <geom name="wall_back" type="box" pos="0 8.0 2.7" size="8.0 .08 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
25
- <geom name="wall_left" type="box" pos="-8.0 0 2.7" size=".08 8.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
26
- <geom name="wall_right" type="box" pos="8.0 0 2.7" size=".08 8.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
27
- <geom name="surface_airport_carpet" type="box" pos="4.86 .72 .0025" size="1.34 1.78 .0025" material="fabric" friction="1.52 .040 .004" condim="6" priority="3" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
28
- <geom name="surface_airport_tile_joint_a" type="capsule" fromto="-.28 -2.56 .0055 1.30 -2.56 .0055" size=".0055" material="metal" friction=".80 .020 .002" condim="6" priority="4" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
29
- <geom name="surface_airport_tile_joint_b" type="capsule" fromto="2.66 -3.18 .006 2.66 -1.92 .006" size=".006" material="metal" friction=".84 .020 .002" condim="6" priority="4" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
30
- <geom name="seat_0_0" type="box" pos="-5.200 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
31
- <geom name="seat_back_0_0" type="box" pos="-5.200 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
32
- <geom name="seat_0_1" type="box" pos="-3.700 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
33
- <geom name="seat_back_0_1" type="box" pos="-3.700 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
34
- <geom name="seat_0_2" type="box" pos="-2.200 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
35
- <geom name="seat_back_0_2" type="box" pos="-2.200 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
36
- <geom name="seat_0_3" type="box" pos="-0.700 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
37
- <geom name="seat_back_0_3" type="box" pos="-0.700 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
38
- <geom name="seat_0_4" type="box" pos="0.800 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
39
- <geom name="seat_back_0_4" type="box" pos="0.800 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
40
- <geom name="seat_0_5" type="box" pos="2.300 0.700 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
41
- <geom name="seat_back_0_5" type="box" pos="2.300 1.100 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
42
- <geom name="seat_1_0" type="box" pos="-5.200 3.000 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
43
- <geom name="seat_back_1_0" type="box" pos="-5.200 3.400 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
44
- <geom name="seat_1_1" type="box" pos="-3.700 3.000 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
45
- <geom name="seat_back_1_1" type="box" pos="-3.700 3.400 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
46
- <geom name="seat_1_2" type="box" pos="-2.200 3.000 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
47
- <geom name="seat_back_1_2" type="box" pos="-2.200 3.400 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
48
- <geom name="seat_1_3" type="box" pos="-0.700 3.000 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
49
- <geom name="seat_back_1_3" type="box" pos="-0.700 3.400 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
50
- <geom name="seat_1_4" type="box" pos="0.800 3.000 .48" size=".60 .48 .10" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
51
- <geom name="seat_back_1_4" type="box" pos="0.800 3.400 .92" size=".60 .10 .50" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
52
- <geom name="gate_desk" type="box" pos="4.8 4.8 .65" size="2 .70 .65" material="wood" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
53
- <geom name="fids" type="box" pos="-6.2 5.2 1.75" size=".65 .28 1.75" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
54
- <body name="brown_luggage" pos="-3.2 -1.0 .31">
55
- <freejoint name="brown_luggage_free" />
56
- <geom name="brown_luggage_geom" type="box" size=".27 .20 .27" mass="7" material="package" friction=".65 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
57
- </body>
58
- <body name="task_item" pos=".5 -1.2 .38">
59
- <freejoint name="task_item_free" />
60
- <geom name="luggage_shell" type="box" pos="0 0 .01" size=".34 .22 .30" mass="11.0" material="airport" friction=".72 .025 .003" condim="6" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
61
- <geom name="luggage_wheel_l" type="sphere" pos="-.20 0 -.31" size=".055" mass=".25" material="rubber" friction="1.05 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
62
- <geom name="luggage_wheel_r" type="sphere" pos=".20 0 -.31" size=".055" mass=".25" material="rubber" friction="1.05 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
63
- </body>
64
- <body name="robot" pos="0.50000000 -3.09999990 .005">
65
- <freejoint name="root_free" />
66
- <inertial pos="0 0 .35" mass="72" diaginertia="12 12 6" />
67
- <geom name="robot_base_collision" type="cylinder" pos="0 0 .22" size="0.5 .14" material="dark" friction=".55 .015 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
68
- <geom name="robot_body_collision" type="box" pos="0 0 0.68000" size="0.39000 0.32000 0.35000" material="robot" friction=".48 .015 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
69
- <body name="wheel_left" pos="-0.39000 0 0.18000">
70
- <joint name="wheel_left_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
71
- <geom name="wheel_left_geom" type="cylinder" size="0.18000 .065" quat=".70710678 0 .70710678 0" mass="1.4" material="rubber" friction="1.65 .025 .003" condim="6" priority="1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
72
- </body>
73
- <body name="wheel_right" pos="0.39000 0 0.18000">
74
- <joint name="wheel_right_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
75
- <geom name="wheel_right_geom" type="cylinder" size="0.18000 .065" quat=".70710678 0 .70710678 0" mass="1.4" material="rubber" friction="1.65 .025 .003" condim="6" priority="1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
76
- </body>
77
- <body name="caster_front" pos="0 .31 .105">
78
- <joint name="caster_front_ball" type="ball" damping=".002" />
79
- <geom name="caster_front_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
80
- </body>
81
- <body name="caster_rear" pos="0 -.31 .105">
82
- <joint name="caster_rear_ball" type="ball" damping=".002" />
83
- <geom name="caster_rear_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
84
- </body>
85
- <body name="grasp_frame" pos="0 .75 .38">
86
- <joint name="lift_joint" type="slide" axis="0 0 1" range="-.01 0.36" damping="140" frictionloss="8" />
87
- <geom name="lift_fork_l" type="box" pos="-.31 0 -.34" size=".04 .42 .02" mass="3.5" material="metal" friction=".82 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
88
- <geom name="lift_fork_r" type="box" pos=".31 0 -.34" size=".04 .42 .02" mass="3.5" material="metal" friction=".82 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
89
- <geom name="clamp_l" type="box" pos="-.38 0 0" size=".035 .20 .25" mass=".5" material="rubber" friction="1.15 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
90
- <geom name="clamp_r" type="box" pos=".38 0 0" size=".035 .20 .25" mass=".5" material="rubber" friction="1.15 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
91
- </body>
92
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- <equality>
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- <weld name="task_grasp" body1="task_item" body2="grasp_frame" relpose="0 0 0 1 0 0 0" active="false" solref=".080 1" />
96
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99
- <velocity name="wheel_right_ctrl" joint="wheel_right_joint" kv="18" forcelimited="true" forcerange="-180 180" />
100
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101
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102
- <motor name="base_force_y_ctrl" joint="root_free" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
103
- <motor name="base_force_z_ctrl" joint="root_free" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
104
- <motor name="base_roll_ctrl" joint="root_free" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
105
- <motor name="base_pitch_ctrl" joint="root_free" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-5500 5500" />
106
- <motor name="base_yaw_ctrl" joint="root_free" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-520 520" />
107
- </actuator>
108
- <contact>
109
- <exclude name="benchmark_grasp_clearance" body1="task_item" body2="grasp_frame" />
110
- </contact>
111
- </mujoco>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
data/runtime/artifacts/SER-03-hotel-drawer/m1_world.xml DELETED
@@ -1,84 +0,0 @@
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- <mujoco model="indoor3_hotel_final_real8s">
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- <compiler angle="radian" autolimits="true" balanceinertia="true" />
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17
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18
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19
- <material name="hotel" rgba=".62 .31 .08 1" />
20
- </asset>
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- <worldbody>
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- <light directional="true" pos="-5 -6 11" dir=".3 .35 -1" />
23
- <geom name="floor" type="box" pos="0 0 -.05" size="8.0 8.0 .05" material="floor_mat" friction="1.35 .025 .003" condim="6" priority="2" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
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- <geom name="wall_left" type="box" pos="-8.0 0 2.7" size=".08 8.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
26
- <geom name="wall_right" type="box" pos="8.0 0 2.7" size=".08 8.0 2.7" material="wall" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
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- <geom name="reception_top" type="box" pos="-3.2 3.76 1.37" size="2.8 .86 .08" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
29
- <geom name="elevator_1" type="box" pos="2.6 7.72 1.55" size="1 .08 1.55" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
30
- <geom name="elevator_2" type="box" pos="5.1 7.72 1.55" size="1 .08 1.55" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
31
- <geom name="lounge_1" type="box" pos="-5.3 -.15 .46" size=".85 .70 .16" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
32
- <geom name="lounge_2" type="box" pos="-2.7 -.15 .46" size=".85 .70 .16" material="fabric" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
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34
- <geom name="room_door_1208" type="box" pos="6.84 4.60 1.40" size=".055 .92 1.40" material="wood" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
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- <body name="meal_parcel" pos="1.1 -5.42 1.01">
36
- <freejoint name="meal_parcel_free" />
37
- <geom name="meal_parcel_geom" type="box" size=".22 .12 .095" mass="1.2" material="package" friction=".78 .025 .003" condim="6" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
38
- </body>
39
- <body name="robot" pos="1.10000002 -5.59999990 .005">
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- <freejoint name="root_free" />
41
- <inertial pos="0 0 .35" mass="78" diaginertia="12 12 6" />
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45
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47
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49
- <joint name="wheel_right_joint" type="hinge" axis="1 0 0" damping=".12" armature=".018" />
50
- <geom name="wheel_right_geom" type="cylinder" size="0.16000 .065" quat=".70710678 0 .70710678 0" mass="1.4" material="rubber" friction="1.65 .025 .003" condim="6" priority="1" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
51
- </body>
52
- <body name="caster_front" pos="0 .31 .105">
53
- <joint name="caster_front_ball" type="ball" damping=".002" />
54
- <geom name="caster_front_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
55
- </body>
56
- <body name="caster_rear" pos="0 -.31 .105">
57
- <joint name="caster_rear_ball" type="ball" damping=".002" />
58
- <geom name="caster_rear_geom" type="sphere" size=".095" mass=".45" material="rubber" friction=".10 .01 .001" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
59
- </body>
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- <body name="upper_drawer" pos="0 .37 1.02">
61
- <joint name="drawer_joint" type="slide" axis="0 1 0" range="-.01 0.31" damping="120" frictionloss="8" armature=".03" stiffness="0" springref="0" />
62
- <geom name="drawer_front" type="box" size=".33 .035 .16" mass="2.2" material="hotel" friction=".62 .02 .002" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
63
- <geom name="drawer_bottom" type="box" pos="0 -.19 -.14" size=".29 .18 .025" mass="1.4" material="metal" friction=".78 .025 .003" condim="6" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
64
- <geom name="drawer_left" type="box" pos="-.29 -.19 -.02" size=".025 .18 .12" mass=".5" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
65
- <geom name="drawer_right" type="box" pos=".29 -.19 -.02" size=".025 .18 .12" mass=".5" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
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- <geom name="drawer_back" type="box" pos="0 -.36 -.02" size=".29 .025 .12" mass=".4" material="metal" solref=".002 1" solimp=".995 .9999 .0002" margin="0.003" />
67
- </body>
68
- </body>
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- <equality>
71
- <joint name="drawer_lock" joint1="drawer_joint" polycoef="0 1 0 0 0" active="false" solref=".010 1" />
72
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73
- <actuator>
74
- <velocity name="wheel_left_ctrl" joint="wheel_left_joint" kv="18" forcelimited="true" forcerange="-180 180" />
75
- <velocity name="wheel_right_ctrl" joint="wheel_right_joint" kv="18" forcelimited="true" forcerange="-180 180" />
76
- <position name="drawer_ctrl" joint="drawer_joint" kp="3000" forcelimited="true" forcerange="-420 420" />
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- <motor name="base_force_x_ctrl" joint="root_free" gear="1 0 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
78
- <motor name="base_force_y_ctrl" joint="root_free" gear="0 1 0 0 0 0" ctrllimited="true" ctrlrange="-900 900" />
79
- <motor name="base_force_z_ctrl" joint="root_free" gear="0 0 1 0 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
80
- <motor name="base_roll_ctrl" joint="root_free" gear="0 0 0 1 0 0" ctrllimited="true" ctrlrange="-5500 5500" />
81
- <motor name="base_pitch_ctrl" joint="root_free" gear="0 0 0 0 1 0" ctrllimited="true" ctrlrange="-5500 5500" />
82
- <motor name="base_yaw_ctrl" joint="root_free" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-520 520" />
83
- </actuator>
84
- </mujoco>
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
data/runtime/artifacts/URB-01-agv-city/runtime_model.xml DELETED
@@ -1,132 +0,0 @@
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