File size: 5,219 Bytes
8ad448c | 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 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 | <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="-0.25 1.6 0.85" quat="0.0519927 -0.0659907 0.78489 -0.613914"/>
<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="0.45 0.45 0.05" type="box" rgba="0.6 0.6 0.6 1"/>
</body>
<body name="ramp_n" pos="0 0.3 0.15">
<body name="ramp_n_floor" pos="0 -0.05 0.024" quat="0.992542 0.121905 0 0">
<geom class="geom_fric" size="0.14 0.1 0.0025" type="box" rgba="1 0 0 1"/>
</body>
<body name="landing_n" pos="0 0.1 0.024">
<geom class="geom_fric" size="0.14 0.05 0.024" type="box" rgba="1 0 0 1"/>
</body>
</body>
<body name="ramp_s" pos="0 -0.3 0.15">
<body name="ramp_s_floor" pos="0 0.05 0.024" quat="0.992542 -0.121905 0 0">
<geom class="geom_fric" size="0.14 0.1 0.0025" type="box" rgba="0 1 0 1"/>
</body>
<body name="landing_s" pos="0 -0.1 0.024">
<geom class="geom_fric" size="0.14 0.05 0.024" type="box" rgba="0 1 0 1"/>
</body>
</body>
<body name="ramp_e" pos="0.3 0 0.15">
<body name="ramp_e_floor" pos="-0.05 0 0.024" quat="0.992542 0 -0.121905 0">
<geom class="geom_fric" size="0.1 0.14 0.0025" type="box" rgba="0 0 1 1"/>
</body>
<body name="landing_e" pos="0.1 0 0.024">
<geom class="geom_fric" size="0.05 0.14 0.024" type="box" rgba="0 0 1 1"/>
</body>
</body>
<body name="ramp_w" pos="-0.3 0 0.15">
<body name="ramp_w_floor" pos="0.05 0 0.024" quat="0.992542 0 0.121905 0">
<geom class="geom_fric" size="0.1 0.14 0.0025" type="box" rgba="1 1 0 1"/>
</body>
<body name="landing_w" pos="-0.1 0 0.024">
<geom class="geom_fric" size="0.05 0.14 0.024" type="box" rgba="1 1 0 1"/>
</body>
</body>
<body name="floor_black" pos="-0.3 0.3 0.1525">
<geom class="geom_fric" size="0.15 0.15 0.0015" type="box" rgba="0 0 0 1"/>
</body>
<body name="floor_cyan" pos="0.3 0.3 0.1525">
<geom class="geom_fric" size="0.15 0.15 0.0015" type="box" rgba="0 1 1 1"/>
</body>
<body name="floor_pink" pos="-0.3 -0.3 0.1525">
<geom class="geom_fric" size="0.15 0.15 0.0015" type="box" rgba="1 0.5 0.7 1"/>
</body>
<body name="floor_white" pos="0.3 -0.3 0.1525">
<geom class="geom_fric" size="0.15 0.15 0.0015" type="box" rgba="1 1 1 1"/>
</body>
<body name="floor_grey" pos="0 0 0.1525">
<geom class="geom_fric" size="0.15 0.15 0.0015" type="box" rgba="0.6 0.6 0.6 1"/>
</body>
<body name="fence_n" pos="0 0.46 0.225">
<geom class="geom_fric" size="0.45 0.01 0.075" type="box" margin="0.003" rgba="0.75 0.75 0.75 1"/>
</body>
<body name="fence_s" pos="0 -0.46 0.225">
<geom class="geom_fric" size="0.45 0.01 0.075" type="box" margin="0.003" rgba="0.75 0.75 0.75 1"/>
</body>
<body name="fence_e" pos="0.46 0 0.225">
<geom class="geom_fric" size="0.01 0.45 0.075" type="box" margin="0.003" rgba="0.75 0.75 0.75 1"/>
</body>
<body name="fence_w" pos="-0.46 0 0.225">
<geom class="geom_fric" size="0.01 0.45 0.075" type="box" margin="0.003" rgba="0.75 0.75 0.75 1"/>
</body>
<body name="obj_base">
<body name="obj_goal"/>
</body>
<body name="obj">
<inertial pos="0 0 0" mass="0.2" diaginertia="0.000328168 0.000328168 0.000328168"/>
<joint type="free"/>
<geom class="geom_fric" size="0.05" rgba="1 0.5 0 1"/>
</body>
<body name="camera_init" pos="-0.25 1.6 0.85" quat="0.0519927 -0.0659907 0.78489 -0.613914"/>
</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>
|