| <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> |
|
|
