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Shcherba
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csrl-robohub-data

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3D
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Tags:
robotics
reinforcement-learning
mujoco
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csrl-robohub-data / mjcf /sphere_cube /render.xml
Shcherba's picture
Shcherba
CSRL simulator data bundle (pack_data.py, csrl-api @ 1b9666d) (part 2)
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8.94 kB
<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="0.625 0.625 0.05" type="box" rgba="0.93 0.88 0.8 1"/>
</body>
<body name="obj_base">
<body name="obj_goal">
<geom size="0.08 0.08 0.08" type="box" contype="0" conaffinity="0" mass="0" rgba="0 1 0.5 0.3"/>
<body name="obj_goal_axes"/>
<body name="side1_goal" pos="0.08 0 0"/>
<body name="side2_goal" pos="-0.08 0 0"/>
<body name="side3_goal" pos="0 0.08 0"/>
<body name="side4_goal" pos="0 -0.08 0"/>
<body name="side5_goal" pos="0 0 0.08"/>
<body name="side6_goal" pos="0 0 -0.08"/>
<body name="side1_p0_goal" pos="0.0812 0 0"/>
<body name="side2_p0_goal" pos="-0.0812 -0.03 -0.03"/>
<body name="side2_p1_goal" pos="-0.0812 -0.03 0"/>
<body name="side2_p2_goal" pos="-0.0812 -0.03 0.03"/>
<body name="side2_p3_goal" pos="-0.0812 0.03 -0.03"/>
<body name="side2_p4_goal" pos="-0.0812 0.03 0"/>
<body name="side2_p5_goal" pos="-0.0812 0.03 0.03"/>
<body name="side3_p0_goal" pos="-0.03 0.0812 -0.03"/>
<body name="side3_p1_goal" pos="0.03 0.0812 0.03"/>
<body name="side4_p0_goal" pos="-0.03 -0.0812 -0.03"/>
<body name="side4_p1_goal" pos="-0.03 -0.0812 0.03"/>
<body name="side4_p2_goal" pos="0 -0.0812 0"/>
<body name="side4_p3_goal" pos="0.03 -0.0812 -0.03"/>
<body name="side4_p4_goal" pos="0.03 -0.0812 0.03"/>
<body name="side5_p0_goal" pos="-0.03 -0.03 0.0812"/>
<body name="side5_p1_goal" pos="0 0 0.0812"/>
<body name="side5_p2_goal" pos="0.03 0.03 0.0812"/>
<body name="side6_p0_goal" pos="-0.03 -0.03 -0.0812"/>
<body name="side6_p1_goal" pos="-0.03 0.03 -0.0812"/>
<body name="side6_p2_goal" pos="0.03 -0.03 -0.0812"/>
<body name="side6_p3_goal" pos="0.03 0.03 -0.0812"/>
</body>
</body>
<body name="obj">
<inertial pos="0 0 0" mass="0.2" diaginertia="0.00140486 0.00140486 0.00140486"/>
<joint type="free"/>
<geom class="geom_fric" size="0.08 0.08 0.08" type="box" margin="0.005" rgba="1 0.5 0 1"/>
<body name="obj_axes"/>
<body name="side1" pos="0.08 0 0">
<geom size="0.0005 0.06 0.06" type="box" contype="0" conaffinity="0" mass="0" rgba="1 0.7 0.7 1"/>
</body>
<body name="side2" pos="-0.08 0 0">
<geom size="0.0005 0.06 0.06" type="box" contype="0" conaffinity="0" mass="0" rgba="0.8 0.1 0.1 1"/>
</body>
<body name="side3" pos="0 0.08 0">
<geom size="0.06 0.0005 0.06" type="box" contype="0" conaffinity="0" mass="0" rgba="0.7 1 0.7 1"/>
</body>
<body name="side4" pos="0 -0.08 0">
<geom size="0.06 0.0005 0.06" type="box" contype="0" conaffinity="0" mass="0" rgba="0.1 0.8 0.1 1"/>
</body>
<body name="side5" pos="0 0 0.08">
<geom size="0.06 0.06 0.0005" type="box" contype="0" conaffinity="0" mass="0" rgba="0.7 0.7 1 1"/>
</body>
<body name="side6" pos="0 0 -0.08">
<geom size="0.06 0.06 0.0005" type="box" contype="0" conaffinity="0" mass="0" rgba="0.1 0.1 0.8 1"/>
</body>
<body name="side1_p0" pos="0.0812 0 0">
<geom size="0.00075 0.009 0.009" type="box" contype="0" conaffinity="0" mass="0" rgba="0.1 0.1 0.1 1"/>
</body>
<body name="side2_p0" pos="-0.0812 -0.03 -0.03">
<geom size="0.00075 0.009 0.009" type="box" contype="0" conaffinity="0" mass="0" rgba="1 1 1 1"/>
</body>
<body name="side2_p1" pos="-0.0812 -0.03 0">
<geom size="0.00075 0.009 0.009" type="box" contype="0" conaffinity="0" mass="0" rgba="1 1 1 1"/>
</body>
<body name="side2_p2" pos="-0.0812 -0.03 0.03">
<geom size="0.00075 0.009 0.009" type="box" contype="0" conaffinity="0" mass="0" rgba="1 1 1 1"/>
</body>
<body name="side2_p3" pos="-0.0812 0.03 -0.03">
<geom size="0.00075 0.009 0.009" type="box" contype="0" conaffinity="0" mass="0" rgba="1 1 1 1"/>
</body>
<body name="side2_p4" pos="-0.0812 0.03 0">
<geom size="0.00075 0.009 0.009" type="box" contype="0" conaffinity="0" mass="0" rgba="1 1 1 1"/>
</body>
<body name="side2_p5" pos="-0.0812 0.03 0.03">
<geom size="0.00075 0.009 0.009" type="box" contype="0" conaffinity="0" mass="0" rgba="1 1 1 1"/>
</body>
<body name="side3_p0" pos="-0.03 0.0812 -0.03">
<geom size="0.009 0.00075 0.009" type="box" contype="0" conaffinity="0" mass="0" rgba="0.1 0.1 0.1 1"/>
</body>
<body name="side3_p1" pos="0.03 0.0812 0.03">
<geom size="0.009 0.00075 0.009" type="box" contype="0" conaffinity="0" mass="0" rgba="0.1 0.1 0.1 1"/>
</body>
<body name="side4_p0" pos="-0.03 -0.0812 -0.03">
<geom size="0.009 0.00075 0.009" type="box" contype="0" conaffinity="0" mass="0" rgba="1 1 1 1"/>
</body>
<body name="side4_p1" pos="-0.03 -0.0812 0.03">
<geom size="0.009 0.00075 0.009" type="box" contype="0" conaffinity="0" mass="0" rgba="1 1 1 1"/>
</body>
<body name="side4_p2" pos="0 -0.0812 0">
<geom size="0.009 0.00075 0.009" type="box" contype="0" conaffinity="0" mass="0" rgba="1 1 1 1"/>
</body>
<body name="side4_p3" pos="0.03 -0.0812 -0.03">
<geom size="0.009 0.00075 0.009" type="box" contype="0" conaffinity="0" mass="0" rgba="1 1 1 1"/>
</body>
<body name="side4_p4" pos="0.03 -0.0812 0.03">
<geom size="0.009 0.00075 0.009" type="box" contype="0" conaffinity="0" mass="0" rgba="1 1 1 1"/>
</body>
<body name="side5_p0" pos="-0.03 -0.03 0.0812">
<geom size="0.009 0.009 0.00075" type="box" contype="0" conaffinity="0" mass="0" rgba="0.1 0.1 0.1 1"/>
</body>
<body name="side5_p1" pos="0 0 0.0812">
<geom size="0.009 0.009 0.00075" type="box" contype="0" conaffinity="0" mass="0" rgba="0.1 0.1 0.1 1"/>
</body>
<body name="side5_p2" pos="0.03 0.03 0.0812">
<geom size="0.009 0.009 0.00075" type="box" contype="0" conaffinity="0" mass="0" rgba="0.1 0.1 0.1 1"/>
</body>
<body name="side6_p0" pos="-0.03 -0.03 -0.0812">
<geom size="0.009 0.009 0.00075" type="box" contype="0" conaffinity="0" mass="0" rgba="1 1 1 1"/>
</body>
<body name="side6_p1" pos="-0.03 0.03 -0.0812">
<geom size="0.009 0.009 0.00075" type="box" contype="0" conaffinity="0" mass="0" rgba="1 1 1 1"/>
</body>
<body name="side6_p2" pos="0.03 -0.03 -0.0812">
<geom size="0.009 0.009 0.00075" type="box" contype="0" conaffinity="0" mass="0" rgba="1 1 1 1"/>
</body>
<body name="side6_p3" pos="0.03 0.03 -0.0812">
<geom size="0.009 0.009 0.00075" type="box" contype="0" conaffinity="0" mass="0" rgba="1 1 1 1"/>
</body>
<body name="goal1" pos="0.08 0.08 0.08"/>
<body name="goal2" pos="0.08 -0.08 -0.08"/>
<body name="goal3" pos="-0.08 0.08 -0.08"/>
<body name="goal4" pos="-0.08 -0.08 0.08"/>
</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>