File size: 2,726 Bytes
1b8905c | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 | <mujoco model="ry_convert">
<compiler meshdir="__SGRL_MESHDIR__/" texturedir="__SGRL_MESHDIR__/" angle="radian" autolimits="false"/>
<size memory="200M"/>
<visual>
<global offwidth="1200" offheight="800"/>
<headlight ambient="0.4 0.4 0.4" diffuse="0.8 0.8 0.8" specular="0.1 0.1 0.1"/>
</visual>
<default>
<default class="ryjoint">
<general biastype="affine" gainprm="1000" biasprm="0 -1000 -10"/>
</default>
<default class="geom_fric">
<geom friction="0.8 0.1 0.1" solref="0.005"/>
</default>
</default>
<worldbody>
<camera name="cam0" pos="0 1.6 0.85" quat="0.0170343 -0.0220443 0.798606 -0.601209"/>
<body name="base" pos="0 0 0.5">
<body name="fake">
<body name="joint1">
<inertial pos="0 0 0" mass="0.01" diaginertia="1e-06 1e-06 1e-06"/>
<joint name="joint1" pos="0 0 0" axis="1 0 0" type="slide" limited="true" range="-0.5 0.5" damping="0.1"/>
<body name="joint2">
<inertial pos="0 0 0" mass="0.01" diaginertia="1e-06 1e-06 1e-06"/>
<joint name="joint2" pos="0 0 0" axis="0 1 0" type="slide" limited="true" range="-0.5 0.5" damping="0.1"/>
<body name="fing">
<inertial pos="0 0 0" mass="0.1" diaginertia="0.000164084 0.000164084 0.000164084"/>
<joint name="fing" pos="0 0 0" axis="0 0 1" type="slide" limited="true" range="-0.4 0.5" damping="0.1"/>
<geom class="geom_fric" size="0.05" rgba="0 1 1 1"/>
</body>
</body>
</body>
</body>
</body>
<body name="table" pos="0 0 0.1">
<geom class="geom_fric" size="0.5 0.5 0.05" type="box" rgba="0.6 0.6 0.6 1"/>
<body name="wall" pos="0.45 0 0.3">
<geom class="geom_fric" size="0.05 0.5 0.25" type="box" margin="0.002" rgba="0.6 0.6 0.6 1"/>
</body>
<body name="box" pos="-0.05 -0.35 0.25">
<geom class="geom_fric" size="0.45 0.15 0.2" type="box" margin="0.002" rgba="0.6 0.6 0.6 1"/>
</body>
</body>
<body name="obj_base">
<body name="obj_goal">
<geom size="0.1" contype="0" conaffinity="0" mass="0" rgba="0 1 0.5 0.3"/>
</body>
</body>
<body name="obj">
<inertial pos="0 0 0" mass="0.2" diaginertia="0.00131267 0.00131267 0.00131267"/>
<joint type="free"/>
<geom class="geom_fric" size="0.1" rgba="1 0.5 0 1"/>
</body>
<body name="camera_init" pos="0 1.6 0.85" quat="0.0170343 -0.0220443 0.798606 -0.601209"/>
</worldbody>
<actuator>
<general name="joint1" class="ryjoint" joint="joint1"/>
<general name="joint2" class="ryjoint" joint="joint2"/>
<general name="fing" class="ryjoint" joint="fing"/>
</actuator>
</mujoco>
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