106 lines
6.2 KiB
XML
106 lines
6.2 KiB
XML
<mujoco model="empty_floor">
|
|
<compiler angle="radian"/>
|
|
<option timestep="0.0005" gravity="0 0 -9.81">
|
|
<!-- <flag sensornoise="disable" contact="enable" energy="enable" gravity="enable"/> -->
|
|
<flag contact="enable" energy="enable" gravity="enable"/>
|
|
</option>
|
|
<asset>
|
|
<texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
|
|
<texture file="../textures/wood-tiles.png" type="2d" name="texplane"/>
|
|
<material name="floorplane" reflectance="0.01" shininess="0.0" specular="0.0" texrepeat="2 2" texture="texplane" texuniform="true"/>
|
|
</asset>
|
|
<asset>
|
|
<mesh file="../objects/can/can.stl" name="can_mesh" scale="1.0 1.0 1.5"/>
|
|
<texture file="../objects/can/can.png" name="tex-can"/>
|
|
<material name="coke" reflectance="0.7" texrepeat="5 5" texture="tex-can" texuniform="true"/>
|
|
</asset>
|
|
|
|
<asset>
|
|
<mesh file="../objects/can/can.stl" name="cer_mesh" scale="1.0 1.0 1.5"/>
|
|
<texture file="../objects/can/ceramic.png" name="tex-cer"/>
|
|
<material name="ceramic" reflectance="0.7" texrepeat="5 5" texture="tex-cer" texuniform="true"/>
|
|
</asset>
|
|
|
|
<asset>
|
|
<mesh file="../objects/can/can.stl" name="gla_mesh" scale="1.0 1.0 1.5"/>
|
|
<texture file="../objects/can/glass.png" name="tex-gla"/>
|
|
<material name="glass" reflectance="0.7" texrepeat="5 5" texture="tex-gla" texuniform="true"/>
|
|
</asset>
|
|
|
|
|
|
<worldbody>
|
|
<!-- Floor -->
|
|
<geom condim="3" material="floorplane" name="floor" pos="0 0 0" size="3 3 .125" type="plane"/>
|
|
<light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="1 1 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
|
|
<light diffuse=".8 .8 .8" dir="0 -.15 -1" directional="false" pos="-3. -3. 8.0" specular="0.3 0.3 0.3" castshadow="false"/>
|
|
<!-- front view -->
|
|
<camera mode="fixed" name="frontview" pos="1.6 0 1.45" quat="0.56 0.43 0.43 0.56"/>
|
|
<!-- bird view -->
|
|
<camera mode="fixed" name="birdview" pos="-0.2 0 3.0" quat="0.7071 0 0 0.7071"/>
|
|
<!-- agent view -->
|
|
<camera mode="fixed" name="agentview" pos="0.5 0 1.35" quat="0.653 0.271 0.271 0.653"/>
|
|
<!-- side view -->
|
|
<camera mode="fixed" name="sideview" pos="-0.05651774593317116 1.2761224129427358 1.4879572214102434" quat="0.009905065491771751 0.006877963156909582 0.5912228352893879 0.806418094001364" />
|
|
|
|
<body name="table" pos="1 0.3 0.35">
|
|
<geom name="table" type="box" size="0.7 1.0 0.05" rgba="0.9 0.9 0.9 1"/>
|
|
<joint type="free" stiffness="0" damping="0.01" frictionloss="0" armature="0"/>
|
|
<body name="leg1" pos="0.35 0.7 -0.2">
|
|
<geom name="leg1_geom" type="cylinder" size="0.05 0.15" rgba="0.5 0.5 0.5 1" />
|
|
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.01" diaginertia="0.0008 0.0008 0.0008"/>
|
|
<!-- <joint type="hinge" axis="1 0 0" pos="0 0 0" /> -->
|
|
</body>
|
|
<body name="leg2" pos="-0.35 0.7 -0.2">
|
|
<geom name="leg2_geom" type="cylinder" size="0.05 0.15" rgba="0.5 0.5 0.5 1" />
|
|
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.01" diaginertia="0.0008 0.0008 0.0008"/>
|
|
<!-- <joint type="hinge" axis="1 0 0" pos="0 0 0" /> -->
|
|
</body>
|
|
<body name="leg3" pos="0.35 -0.7 -0.2">
|
|
<geom name="leg3_geom" type="cylinder" size="0.05 0.15" rgba="0.5 0.5 0.5 1" />
|
|
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.01" diaginertia="0.0008 0.0008 0.0008"/>
|
|
<!-- <joint type="hinge" axis="1 0 0" pos="0 0 0" /> -->
|
|
</body>
|
|
<body name="leg4" pos="-0.35 -0.7 -0.2">
|
|
<geom name="leg4_geom" type="cylinder" size="0.05 0.15" rgba="0.5 0.5 0.5 1" />
|
|
<inertial pos="0 0 0" quat="1 0 0 0" mass="0.01" diaginertia="0.0008 0.0008 0.0008"/>
|
|
<!-- <joint type="hinge" axis="1 0 0" pos="0 0 0" /> -->
|
|
</body>
|
|
</body>
|
|
<body pos="0.8 0.3 0.46" name="coke_can">
|
|
<joint name="object0:joint" type="free" damping="0.01" />
|
|
<!-- <geom name= 'coke_can' pos="0 0 0" size="0.02 0.02 0.02" type="box" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="coke" group="1" condim="4" /> -->
|
|
<!-- <geom pos="0 0 0" mesh="can_mesh" type="mesh" material="coke" group="1"/> -->
|
|
<geom name= 'coke_can' pos="0 0 0" size="0.02 0.02 " type="box" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="coke" group="1" condim="4" />
|
|
|
|
<site name="coke_can" pos="0 0 0" quat='-0.707 0 0.707 0' size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere" />
|
|
|
|
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="can_bottom_site"/>
|
|
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="can_top_site"/>
|
|
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="can_horizontal_radius_site"/>
|
|
</body>
|
|
|
|
<body pos="0.8 0.0 0.46" name="ceramic_can">
|
|
<joint name="object1:joint" type="free" damping="0.01" />
|
|
<geom name="ceramic_can" pos="0 0 0" mesh="can_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="ceramic" group="1" condim="4"/>
|
|
<geom pos="0 0 0" mesh="can_mesh" type="mesh" material="ceramic" group="1"/>
|
|
<site name="ceramic_can" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere" />
|
|
|
|
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="ceramic_bottom_site"/>
|
|
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="ceramic_top_site"/>
|
|
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="ceramic_horizontal_radius_site"/>
|
|
</body>
|
|
|
|
<body pos="0.8 -0.2 0.46" name="glass_can">
|
|
<joint name="object2:joint" type="free" damping="0.01" />
|
|
<geom name="glass_can" pos="0 0 0" mesh="can_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" material="glass" group="1" condim="4"/>
|
|
<geom pos="0 0 0" mesh="can_mesh" type="mesh" material="glass" group="1"/>
|
|
<site name="glass_can" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere" />
|
|
|
|
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.06" name="glass_bottom_site"/>
|
|
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.04" name="glass_top_site"/>
|
|
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="glass_horizontal_radius_site"/>
|
|
</body>
|
|
|
|
</worldbody>
|
|
</mujoco>
|