| <mujoco model="robot scene"> | |
| <compiler angle="radian" inertiafromgeom="true"/> | |
| <!-- <option timestep="0.000025"/> --> | |
| <asset> | |
| <model name="so_arm100" file="so_arm100.xml" /> | |
| </asset> | |
| <statistic center="0 0 0.1" extent="0.8"/> | |
| <visual> | |
| <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/> | |
| <rgba haze="0.15 0.25 0.35 1"/> | |
| <global azimuth="120" elevation="-20"/> | |
| </visual> | |
| <asset> | |
| <texture type="skybox" builtin="gradient" rgb1="0.8 0.8 0.8" rgb2="0 0 0" width="512" height="3072"/> | |
| <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3" | |
| markrgb="0.8 0.8 0.8" width="300" height="300"/> | |
| <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/> | |
| </asset> | |
| <worldbody> | |
| <attach model="so_arm100" body="Base" prefix="so100_"/> | |
| <body name="block_a"> | |
| <joint name="block_a_joint" type="free"/> | |
| <geom size="0.02 0.02 0.02" pos=".0 0 0.0" type="box" rgba="0 1 0 1" /> | |
| <inertial pos="0.01 0.01 0.01" mass="0.2"/> | |
| </body> | |
| <!-- BIN START --> | |
| <!-- <body name="bin" pos="0 0 0.0"> | |
| <geom name="bin_wall1" type="box" size="0.001 0.06 0.03" pos="0.06 0.0 0.03" rgba="0.7 0.7 0.7 1"/> | |
| <geom name="bin_wall2" type="box" size="0.001 0.06 0.03" pos="-0.06 0.0 0.03" rgba="0.7 0.7 0.7 1"/> | |
| <geom name="bin_wall3" type="box" size="0.06 0.001 0.03" pos="0.0 0.06 0.03" rgba="0.7 0.7 0.7 1"/> | |
| <geom name="bin_wall4" type="box" size="0.06 0.001 0.03" pos="0.0 -0.06 0.03" rgba="0.7 0.7 0.7 1"/> | |
| <geom name="bin_floor" type="box" size="0.06 0.06 0.001" pos="0.0 0.0 0.001" rgba="0.5 0.5 0.5 1"/> | |
| </body> --> | |
| <!-- BIN END --> | |
| <!-- BACKGROUND OBJECTS START --> | |
| <!-- <body name="pillar" pos="0.25 -0.1 0.08"> | |
| <geom type="cylinder" size="0.015 0.08" rgba="0.8 0.6 0.3 1"/> | |
| </body> | |
| <body name="box_stack" pos="-0.18 -0.25 0.02"> | |
| <geom type="box" size="0.025 0.025 0.02" pos="0 0 0.02" rgba="0.2 0.5 0.8 1"/> | |
| <geom type="box" size="0.02 0.02 0.015" pos="0 0 0.06" rgba="0.8 0.3 0.3 1"/> | |
| </body> | |
| <body name="ball" pos="0.18 0.18 0.03"> | |
| <geom type="sphere" size="0.03" rgba="0.3 0.8 0.3 1"/> | |
| </body> | |
| <body name="ramp" pos="-0.22 0.12 0.01"> | |
| <geom type="box" size="0.06 0.03 0.01" euler="0 0 0.5" rgba="0.7 0.7 0.2 1"/> | |
| </body> | |
| <body name="table" pos="0.0 0.35 0.025"> | |
| <geom type="box" size="0.12 0.08 0.025" rgba="0.5 0.3 0.1 1"/> | |
| </body> | |
| <body name="arch" pos="-0.3 0.0 0.04"> | |
| <geom type="box" size="0.01 0.04 0.04" pos="-0.03 0 0.04" rgba="0.6 0.6 0.6 1"/> | |
| <geom type="box" size="0.01 0.04 0.04" pos="0.03 0 0.04" rgba="0.6 0.6 0.6 1"/> | |
| <geom type="box" size="0.04 0.04 0.01" pos="0 0 0.09" rgba="0.6 0.6 0.6 1"/> | |
| </body> | |
| <body name="wall" pos="0.0 0.5 0.05"> | |
| <geom type="box" size="0.18 0.01 0.05" rgba="0.2 0.2 0.2 1"/> | |
| </body> --> | |
| <!-- BACKGROUND OBJECTS END --> | |
| <!-- LARGE ROOM STRUCTURE (background, non-intrusive) --> | |
| <!-- <body name="room_wall_far1" pos="0.0 -0.7 0.18"> | |
| <geom type="box" size="0.75 0.02 0.18" rgba="0.92 0.92 0.95 1"/> | |
| </body> | |
| <body name="room_wall_far2" pos="0.0 0.7 0.18"> | |
| <geom type="box" size="0.75 0.02 0.18" rgba="0.92 0.92 0.95 1"/> | |
| </body> | |
| <body name="room_wall_far3" pos="0.7 0.0 0.18"> | |
| <geom type="box" size="0.02 0.7 0.18" rgba="0.92 0.92 0.95 1"/> | |
| </body> | |
| <body name="room_wall_far4" pos="-0.7 0.0 0.18"> | |
| <geom type="box" size="0.02 0.7 0.18" rgba="0.92 0.92 0.95 1"/> | |
| </body> --> | |
| <!-- Optional: semi-transparent ceiling for light --> | |
| <!-- <body name="room_ceiling_far" pos="0.0 0.0 0.36"> | |
| <geom type="box" size="0.72 0.72 0.01" rgba="0.98 0.98 1.0 0.15"/> | |
| </body> --> | |
| <!-- Optional: "window" opening in one wall (just leave a gap, or use two short boxes) --> | |
| <!-- <body name="room_door_left" pos="-0.25 -0.7 0.09"> | |
| <geom type="box" size="0.20 0.02 0.09" rgba="0.92 0.92 0.95 1"/> | |
| </body> | |
| <body name="room_door_right" pos="0.25 -0.7 0.09"> | |
| <geom type="box" size="0.20 0.02 0.09" rgba="0.92 0.92 0.95 1"/> | |
| </body> --> | |
| <!-- <! END LARGE ROOM STRUCTURE --> | |
| <!-- CAMERAS FOR FULL ENVIRONMENT COVERAGE --> | |
| <camera name="birdseye" pos="0 -.2 0.7" xyaxes="1 0 0 0 1 0" fovy="70"/> | |
| <camera name="front" pos="0.0 -0.72 0.1" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" fovy="60"/> | |
| <camera name="left" pos="0.67 -0.24 0.15" quat="0.5 0.5 0.5 0.5" fovy="75"/> | |
| <camera name="right" pos="-0.59 -0.21 0.1" quat="0.5173735959294465 0.48247409922694473 -0.4909692102909064 -0.5084216167281893" fovy="75"/> | |
| <camera name="diag1" pos="0.46 -0.68 0.16" quat="0.6459741880212511 0.645974188021251 0.28760623847595096 0.2876062384759507" fovy="60"/> | |
| <camera name="diag2" pos="-0.47 -0.59 0.15" quat="0.6163304913827519 0.6377697389604375 -0.3290274999202369 -0.3242335419947629" fovy="75"/> | |
| <camera name="bin_top" pos="0.39 -0.7 0.15" quat="0.7080288517576222 0.6055174982105622 0.23684237536193758 0.27558917553583234" fovy="60"/> | |
| </worldbody> | |
| <worldbody> | |
| <light pos="1 1 1.5" dir="-0.5 -0.5 -1" directional="true"/> | |
| <geom name="floor" size="0 0 0.05" pos="0 0 0" type="plane" material="groundplane"/> | |
| </worldbody> | |
| </mujoco> | |