| <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> |
|
|
