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type
string | contents
string |
|---|---|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5"/>
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-011365_outer=0-10_height=0-05_num_facets=16_id=032.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml"/>
</sensor>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-015313_outer=0-10_height=0-05_num_facets=16_id=022.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<mujoco model="inverted-pendulum">
<compiler inertiafromgeom="true"/>
<default>
<joint armature="0" damping="1" limited="true"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
<tendon/>
<motor ctrlrange="-3 3"/>
</default>
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
<size nstack="3000"/>
<worldbody>
<!--geom name="ground" type="plane" pos="0 0 0" /-->
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
<body name="cart" pos="0 0 0">
<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
<body name="pole" pos="0 0 0">
<joint axis="0 1 0" name="hinge" pos="0 0 0" range="-90 90" type="hinge"/>
<geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
<!-- <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
</body>
</body>
</worldbody>
<actuator>
<motor gear="100" joint="slider" name="slide"/>
</actuator>
</mujoco>
|
XML
|
<mujocoinclude name='rod_visual'>
<body name="pipe_visual" pos="0 0 0" euler="1.57 0 0">
<geom type="capsule" size=".04 .165" rgba="0 1 0 .01" group="1" contype="0" conaffinity="0"/>
<body pos="0 0 0." euler='0 0 0.785'>
<geom type="box" pos="0.05 0 0.02" size="0.01 0.025 0.2" rgba='0.16 0.5 0.73 0.1' group='1' contype='0' conaffinity='0' />
</body>
<site name="target_center" type="sphere" size="0.04" pos="0 0 0" rgba="0 1 0 .05"/>
<site name="target_left" type="sphere" size="0.04" pos="0 0 0.165" rgba="0 0 0 .05"/>
<site name="target_right" type="sphere" size="0.04" pos="0 0 -0.165" rgba="1 1 1 .05"/>
<site name="target_normal" type="sphere" size="0.04" pos="1 0 0" rgba="1 1 1 0"/>
<site name="target_parallel" type="sphere" size="0.04" pos="0 0 1" rgba="1 1 1 0"/>
</body>
</mujocoinclude>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-014800_outer=0-10_height=0-05_num_facets=16_id=023.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<mujoco>
<asset>
<texture file="wood.png"/>
<texture name="wood2d" type="2d" file="wood.png"/>
<texture file="square.png"/>
<texture name="foil" file="silverRaw.png"/>
<texture file="woodb.png"/>
<material name="MatFoil" texture="foil" specular="1" shininess=".3" rgba=".9 .9 .9 1"/>
<material name="MatPlane" specular=".3" shininess=".3" rgba=".3 .3 .2 1"/>
<material name="MatWood" texture="wood" specular="0.4" shininess=".1" texrepeat="3 3"/>
<material name="MatSquare" texture="square" specular="1" shininess=".6" rgba=".8 .8 .8 1"/>
<material name="MatWoodR" texture="wood" specular="1" shininess=".3" rgba="1 0.5 0.5 1"/>
<material name="MatWoodG" texture="wood" specular="1" shininess=".3" rgba="0.2 1 0.2 1"/>
<material name="MatWoodB" texture="woodb" specular="1" shininess=".3"/>
</asset>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5"/>
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-008079_outer=0-10_height=0-05_num_facets=16_id=052.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml"/>
</sensor>
</mujoco>
|
XML
|
<mujoco>
<texture type="skybox" builtin="gradient" rgb1="0.44 0.85 0.56" rgb2="0.46 0.87 0.58" width="32" height="32"></texture>
<material name="floor_mat" specular="0" shininess="0.5" reflectance="0" rgba="1 1 1 1"></material>
<material name="block_mat" specular="0" shininess="0.5" reflectance="0" rgba="0.2 0.2 0.2 1"></material>
<mesh name="base" file="base.STL" />
<mesh name="l0" file="l0.STL" />
<mesh name="head" file="head.STL" />
<mesh name="l1" file="l1.STL" />
<mesh name="l2" file="l2.STL" />
<mesh name="l3" file="l3.STL" />
<mesh name="l4" file="l4.STL" />
<mesh name="l5" file="l5.STL" />
<mesh name="l6" file="l6.STL" />
<mesh name="half_round_tip" file="half_round_tip.STL" />
<mesh name="electric_gripper_base" file="electric_gripper_base.STL" />
<mesh name="extended_narrow" file="extended_narrow.STL"/>
<mesh name="paddle_tip" file="paddle_tip.STL"/>
<mesh name="yellow_bin_v1" file="yellow_bin_v1.STL"/>
<mesh name="red_bin_v1" file="red_bin_v1.STL"/>
<mesh name="green_bin_v1" file="green_bin_v1.STL"/>
<mesh name="pedestal_table" file="pedestal_table.STL"/>
<mesh name="box_body" scale="0.001 0.001 0.001" file="box_body.STL"/>
<mesh name="box_lid" scale="0.001 0.001 0.001" file="box_lid.STL"/>
<mesh name="box_triangle" scale="0.001 0.001 0.001" file="box_triangle.STL"/>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-017055_outer=0-10_height=0-05_num_facets=16_id=019.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-013438_outer=0-10_height=0-05_num_facets=16_id=026.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5"/>
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-007999_outer=0-10_height=0-05_num_facets=16_id=053.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml"/>
</sensor>
</mujoco>
|
XML
|
<mujocoinclude>
<body childclass="club_base">
<geom material="club_wood" mesh="club_handle" pos="-0.005 0 0.092"/>
<geom material="club_black" mesh="club_head" pos="-0.08 0 0.0"/>
<geom material="club_black" mesh="club_tape" pos="-0.005 0 0.092"/>
<geom class="club_col" euler="1.57 0 0" pos="0.009 0 0" size="0.02 0.015" type="cylinder" mass=".1"/>
<geom class="club_col" euler="1.57 0 0" pos="-0.08 0 0" size="0.02 0.015" type="cylinder" mass=".1"/>
<geom class="club_col" pos="-0.035 0 0" size="0.045 0.015 0.02" type="box" mass=".1"/>
<geom class="club_col" pos="-0.005 0 0.032" size="0.012 0.012 0.012" type="box" mass=".02"/>
<geom class="club_col" pos="-0.005 0 0.092" size="0.01 0.01 0.048" type="box" mass=".05"/>
<site name="handleStart" pos="-.005 0 0.1" size="0.01" />
</body>
</mujocoinclude>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-010135_outer=0-10_height=0-05_num_facets=16_id=037.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<mujoco>
<include file="shared_options.xml" />
<include file="sr_hand_e_left_options.xml" />
<asset>
<include file="shared_assets_left.xml" />
</asset>
<worldbody>
<geom condim="3" material="mat_plane" name="floor" pos="0 0 0" size="5 5 0.001" type="plane" />
<body name="floor" pos="0 0 0" />
<include file="sr_hand_e_left_model.xml" />
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco>
|
XML
|
<mujoco model="eSeries_UR16e">
<include file="shared.xml"/>
<include file="joint_actuations.xml"/>
<worldbody>
<include file="robot.xml"/>
</worldbody>
</mujoco>
|
XML
|
<mujoco>
<include file="MPL.xml"/>
<include file="assets.xml"/>
<default>
<default class="board">
<geom type="box" material="MatWood"/>
</default>
</default>
<worldbody>
<body childclass="board" pos="0 0 0.009">
<geom name="farr" pos="0 0.18 0" size="0.05 0.07 0.01"/>
<geom name="midf" pos="0 0.0 0" size="0.05 0.08 0.01" />
<geom name="near" pos="0 -0.18 0" size="0.05 0.07 0.01"/>
<geom name="left" pos="-.15 0 0" size="0.10 0.25 0.01" />
<geom name="righ" pos="0.15 0 0" size="0.10 0.25 0.01" />
<geom name="topp" pos="0 0 0.03" size="0.25 .005 .02" />
</body>
<body name="Object" pos="0 .095 .25">
<geom name="box" type="box" material="MatWoodB" size="0.045 0.01 0.045" condim="3" friction="1 .001 .001"/>
<joint class="free"/>
</body>
</worldbody>
</mujoco>
|
XML
|
<!-- ======================================================
Model :: Latch and door
Mujoco :: Advanced physics simulation engine
Source : www.roboti.us
Version : 1.41
Released : 22Aug'16
Author :: Vikash Kumar
Contacts : kumar@roboti.us
Last edits : 05Oct'16
====================================================== -©vk©-->
<mujocoinclude>
<compiler angle="radian"/>
<asset>
<texture name="wood" type="2d" file="texture/wood.png"/>
<material name="wood" texture="wood" reflectance="0.008" rgba="1 1 1 1"/>
</asset>
</mujocoinclude>
|
XML
|
<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<!--<compiler angle="radian" coordinate="local" meshdir="../stls/baxter" texturedir="../textures"></compiler> !-->
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<include file="robot.xml"></include>!
<!-- <include file="../baxter/baxter.xml"></include> -->
<body pos="1.3 0.75 0.2" name="table0">
<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
<actuator></actuator>
</mujoco>
|
XML
|
<mujoco model="human">
<asset>
<mesh file="meshes/visualhuman.stl" name="human_mesh" scale="0.65 0.65 0.65"/>
</asset>
<worldbody>
<body>
<body name="object">
<geom pos="0 0 0" mesh="human_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3" conaffinity="0" contype="0" group="1" mass="0.0001"/>
</body>
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.515" name="bottom_site"/>
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.86" name="top_site"/>
<site rgba="0 0 0 0" size="0.005" pos="0.12 0.35 0" name="horizontal_radius_site"/>
</body>
</worldbody>
</mujoco>
|
XML
|
<mujoco model="inverted pendulum">
<compiler inertiafromgeom="true"/>
<default>
<joint armature="0" damping="1" limited="true"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
<tendon/>
<motor ctrlrange="-3 3"/>
</default>
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
<size nstack="3000"/>
<option integrator="Euler" timestep="0.002"/>
<worldbody>
<!--geom name="ground" type="plane" pos="0 0 0" /-->
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 5" type="capsule"/>
<body name="cart" pos="0 0 0">
<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-50 50" type="slide"/>
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
<body name="pole" pos="0 0 0">
<joint axis="0 1 0" name="hinge" pos="0 0 0" range="-360 360" type="hinge"/>
<geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
<!-- <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
</body>
</body>
</worldbody>
<actuator>
<motor gear="100" joint="slider" name="slide"/>
</actuator>
</mujoco>
|
XML
|
<mujoco>
<include file="MPL.xml"/>
<include file="assets.xml"/>
<default>
<default class="board">
<geom type="box" material="MatWood"/>
</default>
</default>
<worldbody>
<body childclass="board" pos="0 0 0.009">
<geom name="farr" pos="0 0.2 0" size="0.05 0.05 0.01"/>
<geom name="midf" pos="0 0.0 0" size="0.05 0.05 0.01"/>
<geom name="near" pos="0 -0.2 0" size="0.05 0.05 0.01"/>
<geom name="left" pos="-.15 0 0" size="0.10 0.25 0.01"/>
<geom name="righ" pos="0.15 0 0" size="0.10 0.25 0.01"/>
<geom name="topp" pos="0 0 0.03" size="0.25 0.005 .02"/>
</body>
<body name="Object" pos="0 .1 .25">
<geom name="sphere" type="sphere" material="MatWoodB" size="0.05"/>
<joint class="free"/>
</body>
</worldbody>
</mujoco>
|
XML
|
<mujocoinclude>
<default>
<default class="ur_jntrange_full">
<include file="../../jointrange_defaults.xml"/>
<default class="jointbase">
<joint damping="0.01" armature=".01" frictionloss=".01"/>
<default class="ur16e_J1"/>
<default class="ur16e_J2"/>
<default class="ur16e_J3"/>
<default class="ur16e_J4"/>
<default class="ur16e_J5"/>
</default>
</default>
<default class="ur_jntrange_wrist">
<include file="../../jointrange_wrist.xml"/>
<default class="ur16e_J6">
<joint damping=".01" armature=".01" frictionloss=".01"/>
</default>
</default>
</default>
</mujocoinclude>
|
XML
|
<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<body pos="1.3 0.75 0.2" name="table0">
<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
<actuator></actuator>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5"/>
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-036145_outer=0-10_height=0-05_num_facets=16_id=002.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml"/>
</sensor>
</mujoco>
|
XML
|
<mujoco model="arena">
<compiler angle="radian"/>
<asset>
<texture type='skybox' builtin='gradient' rgb1='.4 .6 .8' rgb2='0 0 0' width='100' height='100'/>
<texture name='groundplane' type='2d' builtin='checker' rgb1='.2 .3 .4' rgb2='.1 .2 .3' width='300' height='300' mark='edge' markrgb='.8 .8 .8'/>
<material name='groundplane' texture='groundplane' texrepeat='5 5' texuniform='true' reflectance='.2'/>
</asset>
<!-- Always initialize the free camera to point at the origin. -->
<statistic center='0 0 0'/>
<worldbody>
<!-- View of the person sitting behind computer operating the robot. -->
<camera name='fixed_viewer' pos='0 -1.5 0.5' quat='0.7 0.7 0 0'/>
<geom name='ground' type='plane' size='2 2 2' material='groundplane'
friction='0.4'/>
<light directional='false' diffuse='.7 .7 .7' pos='0 0 1.5' dir='0 0 -1' specular='.3 .3 .3' castshadow='true'/>
</worldbody>
</mujoco>
|
XML
|
<mujoco model="arm3d">
<compiler inertiafromgeom="true" angle="radian" coordinate="local" />
<option timestep="0.01" gravity="0 0 0" iterations="20" integrator="Euler" />
<default>
<joint armature='0.04' damping="1" limited="true"/>
<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="1" conaffinity="1"/>
</default>
<worldbody>
{model}
{objects}
</worldbody>
<actuator>
{joints}
</actuator>
</mujoco>
|
XML
|
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/258/258.stl" name="obj0" scale="0.00467211126131 0.00467211126131 0.00467211126131" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.012237784837697708 0.03000629584769703 0.22386790554052693">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco>
|
XML
|
<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="2D grid">
<include file="scene.xml"/>
<size nconmax="300" njmax="1000" nstack="1000000"/>
<worldbody>
<composite type="grid" count="9 9 1" spacing="0.05" offset="0 0 1">
<skin material="matcarpet" inflate="0.001" subgrid="3" texcoord="true"/>
<geom size=".02"/>
</composite>
</worldbody>
</mujoco>
|
XML
|
<mujoco>
<include file="../scene/basic_scene.xml"/>
<include file="../objects/assets/doorlock_dependencies.xml"/>
<include file="../objects/assets/xyz_base_dependencies.xml"/>
<worldbody>
<include file="../objects/assets/xyz_base.xml"/>
<body name="door" pos="0 0.9 0.15">
<include file="../objects/assets/doorlockB.xml"/>
</body>
<site name="goal" pos="-0.49 0.46 0.15" size="0.02"
rgba="0 0.8 0 1"/>
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="-1 1" joint="r_close" kp="400" user="1"/>
<position ctrllimited="true" ctrlrange="-1 1" joint="l_close" kp="400" user="1"/>
</actuator>
<equality>
<weld body1="mocap" body2="hand" solref="0.02 1"/>
</equality>
</mujoco>
|
XML
|
<mujoco model="milk">
<asset>
<mesh file="meshes/milk.stl" name="milk_mesh" scale="0.9 0.9 0.9"/>
<texture file="../textures/ceramic.png" name="tex-ceramic"/>
<material name="ceramic" reflectance="0.5" texrepeat="1 1" texture="tex-ceramic" texuniform="true"/>
</asset>
<worldbody>
<body>
<body name="object">
<geom pos="0 0 0" mesh="milk_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="0" condim="4"/>
<geom pos="0 0 0" size="0.01" solimp="0.998 0.998 0.001" solref="0.001 1" density="100" friction="0.95 0.3 0.1" group="0" condim="4"/>
</body>
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.085" name="bottom_site"/>
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.075" name="top_site"/>
<site rgba="0 0 0 0" size="0.005" pos="0.025 0.025 0" name="horizontal_radius_site"/>
</body>
</worldbody>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-006848_outer=0-10_height=0-05_num_facets=16_id=091.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<mujoco model="inverted pendulum">
<compiler inertiafromgeom="true"/>
<default>
<joint armature="0" damping="1" limited="true"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
<tendon/>
<motor ctrlrange="-3 3"/>
</default>
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
<size nstack="3000"/>
<worldbody>
<!--geom name="ground" type="plane" pos="0 0 0" /-->
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
<body name="cart" pos="0 0 0">
<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
<body name="pole" pos="0 0 0">
<joint axis="0 1 0" name="hinge" pos="0 0 0" range="-90 90" type="hinge"/>
<geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
<!-- <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
</body>
</body>
</worldbody>
<actuator>
<motor gear="100" joint="slider" name="slide"/>
</actuator>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
</asset>
<worldbody>
<geom class="visual" type="plane" size="10 10 1"/>
<include file="kuka/kuka_no_collision.xml"/>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
</mujoco>
|
XML
|
<mujoco model="collisions">
<worldbody>
<body name="box">
<geom name="box" type="box" size="1 1 1"/>
</body>
<body pos="1.2 1.2 0.0">
<!-- collides with box -->
<joint/>
<geom name="sphere_collides" type="sphere" size="1"/>
</body>
<body pos="-0.9 -0.9 0.0">
<!-- collides with box, and is a predefined pair -->
<joint/>
<geom name="sphere_predefined" type="sphere" size="0.1"/>
</body>
<body pos="1.8 -1.8 0.0" >
<!-- doesn't collide with box, but requires narrowphase checking -->
<joint/>
<geom name="sphere_narrowphase" type="sphere" size="1"/>
</body>
<body pos="-2.1 -2.1 0.0">
<!-- doesn't collide with box, and can be eliminated in broadphase -->
<joint/>
<geom name="sphere_broadphase" type="sphere" size="1"/>
</body>
<body name="sphere_excluded">
<!-- collides with box, but is excluded -->
<joint/>
<geom name="sphere_excluded" type="sphere" pos="0.0 0.0 0.0" size="0.2"/>
</body>
</worldbody>
<contact>
<exclude body1="box" body2="sphere_excluded"/>
<pair geom1="box" geom2="sphere_predefined"/>
</contact>
</mujoco>
|
XML
|
<mujocoinclude>
<worldbody>
<body name="blabla" pos="0.15 0.15 0.15">
<geom conaffinity="1" contype="1" mass="0" pos="0 0 0" rgba="0.417 0.7203 0.0001 0.1" size="0.15 0.15 0.15" type="box"></geom>
</body>
</worldbody>
</mujocoinclude>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-006967_outer=0-10_height=0-05_num_facets=16_id=080.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<body pos="1.3 0.75 0.2" name="table0">
<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
</body>
<body name="object0">
<joint name="object0:joint" type="free" damping="0.01"></joint>
<geom type="mesh" mesh="sphere_mesh" name="sphere_mesh" material="sphere_mat" mass="1.0"></geom>
<site name="object0" pos="0 0 0" size="0.01 0.01 0.01" rgba="0.1 0.9 0.1 1" type="sphere"></site>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
<actuator></actuator>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".6 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/no_hole.xml"/>
</body>
<body name="target_frame" pos=".8 0 1.3" mocap="true">
<geom class="visual" type="sphere" size="0.005" rgba=".1 .1 .1 1"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<mujoco>
<motor name="kuka_joint_1" ctrllimited="true" ctrlrange="-176.0 176.0" joint="kuka_joint_1"/>
<motor name="kuka_joint_2" ctrllimited="true" ctrlrange="-176.0 176.0" joint="kuka_joint_2"/>
<motor name="kuka_joint_3" ctrllimited="true" ctrlrange="-110.0 110.0" joint="kuka_joint_3"/>
<motor name="kuka_joint_4" ctrllimited="true" ctrlrange="-110.0 110.0" joint="kuka_joint_4"/>
<motor name="kuka_joint_5" ctrllimited="true" ctrlrange="-110.0 110.0" joint="kuka_joint_5"/>
<motor name="kuka_joint_6" ctrllimited="true" ctrlrange="-40.0 40.0" joint="kuka_joint_6"/>
<motor name="kuka_joint_7" ctrllimited="true" ctrlrange="-40.0 40.0" joint="kuka_joint_7"/>
</mujoco>
|
XML
|
<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<include file="shared_config.xml"></include>
<worldbody>
<include file="sawyer_xyz_base.xml"></include>
<body name="obj" pos="0 0 0.1">
<joint name="objjoint" type="free" limited='false' damping="0" armature="0" />
<inertial pos="0 0 0" mass="1" diaginertia="100000 100000 100000"/>
<geom name="objbox" type="sphere" pos="0 0 0"
size=".015" rgba="0.0 0.0 1.0 1"
contype="6" conaffinity="6" friction="1.0 0.10 0.002" condim="4" mass=1.0, margin=0.0
/>
<site name="obj" pos="0 .00 0" size="0.035" rgba="0.0 0.0 1.0 1"/>
</body>
<site name="hand-goal-site" pos="0 0 0" size="0.01"
rgba="1 0.5 0.5 0.5"/>
<site name="obj-goal-site" pos="0 0 0" size="0.01"
rgba="0.5 0.5 1 0.5"/>
</worldbody>
<actuator>
<motor gear="100" joint="rc_close" />
</actuator>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".6 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
</asset>
<worldbody>
<geom class="collision" type="plane" size="10 10 1"/>
<include file="kuka/kuka_mesh_collision.xml"/>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
</mujoco>
|
XML
|
<!--
# Copyright 2020 (c) Aalto University - All Rights Reserved
# Author: Julius Hietala <julius.hietala@aalto.fi>
#
-->
<mujoco>
<include file="franka_cloth_shared.xml"/>
<equality>
<weld body1="end_effector_body" body2="B8_0" solimp="0.9 0.95 0.001" solref="0.02 1"/>
</equality>
<include file='assets/actuator0.xml'/>
</mujoco>
|
XML
|
<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<worldbody>
<body>
<geom type="box" size="0.025 0.025 0.025"></geom>
<joint type="free"></joint>
</body>
</worldbody>
</mujoco>
|
XML
|
<mujoco>
<visual>
<headlight ambient=".4 .4 .4" diffuse=".8 .8 .8" specular="0.1 0.1 0.1"/>
<map znear=".01"/>
<quality shadowsize="2048"/>
</visual>
</mujoco>
|
XML
|
<mujoco model="bin">
<!-- =================================================
Copyright 2019 Vikash Kumar
Model :: bin (MuJoCoV2.0)
Author :: Vikash Kumar (vikashplus@gmail.com), Michael Wu (michael50wu@gmail.com)
Details :: https://github.com/vikashplus/furniture_sim
License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -©vk©-->
<compiler angle="radian" meshdir="" texturedir=""/>
<include file="../furniture_sim/bin/bin_asset.xml"/>
<worldbody>
<body>
<include file="../furniture_sim/bin/bin_body.xml" />
</body>
</worldbody>
</mujoco>
|
XML
|
<mujoco model="can-visual">
<asset>
<texture file="../textures/white-bricks.png" type="cube" name="brick" />
<material name="BrickWall" texture="brick" specular="1" shininess="0.3" rgba="1 0.3 0.3 1" />
</asset>
<worldbody>
<body>
<body name="object" pos="0 0 0">
<geom material="BrickWall" type="box" contype="1" size="0.1 0.005 0.125" name="wall" conaffinity="1" pos="0 0 0.02" mass="1000" group="0"/>
</body>
<site rgba="0 1 0 1" size="0.005" pos="0 0 -0.125" name="bottom_site"/>
<site rgba="0 1 0 1" size="0.005" pos="0 0 0.125" name="top_site"/>
<site rgba="0 1 0 1" size="0.005" pos="0.1 0.005 0" name="horizontal_radius_site"/>
</body>
</worldbody>
</mujoco>
|
XML
|
<mujoco model="obj">
<include file="assets/bin_dependencies.xml"/>
<include file="../scene/basic_scene.xml"/>
<worldbody>
<include file="assets/objA.xml"/>
</worldbody>
</mujoco>
|
XML
|
<mujoco>
<body name="gripper" euler="0 0 0" pos="0 0 0.05">
<inertial pos="0 0 0" mass="0.5"/>
<geom class="collision" type="cylinder" pos="0 0 0.01862" size="0.031 0.01862"/>
<geom class="collision" type="box" pos="0 0 0.042" size="0.02041 0.063 0.00476"/>
<body childclass="fetchGripper" name="r_gripper_finger_link" pos="0 0.0159 0.08526">
<inertial diaginertia="0.1 0.1 0.1" mass="0.4" pos="-0.01 0 0"/>
<joint axis="0 1 0" name="r_gripper_finger_joint" range="0 0.05"/>
<geom pos="0 -0.008 0" size="0.0135 0.007 0.0385" type="box" name="r_gripper_finger_link" condim="4" friction="1 0.05 0.01"/>
</body>
<body childclass="fetchGripper" name="l_gripper_finger_link" pos="0 -0.0159 0.08526">
<inertial diaginertia="0.1 0.1 0.1" mass="0.4" pos="-0.01 0 0"/>
<joint axis="0 -1 0" name="l_gripper_finger_joint" range="0 0.05"/>
<geom pos="0 0.008 0" size="0.0135 0.007 0.0385" type="box" name="l_gripper_finger_link" condim="4" friction="1 0.05 0.01"/>
</body>
<body name="gripper_tip" pos="0 0 0.11289" euler="0 0 0" >
<site name="gripper_tip" pos="0 0 0" quat="1 0 0 0" size="0.005, 0.005, 0.005"/>
</body>
<site name="peg_ft_site" pos="0 0 0" euler="0 0 0" size="0.005, 0.005, 0.005"/>
</body>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-013037_outer=0-10_height=0-05_num_facets=16_id=027.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<mujoco model="b_lego_duplo">
<asset>
<mesh file="../meshes/ycb/b_lego_duplo.stl" name="b_lego_duplo_mesh"/>
<texture type="skybox" file="../../textures/blue-wood.png" name="tex-b_lego_duplo"/>
<material name="hidden" reflectance="0.5" texrepeat="5 5" texture="tex-b_lego_duplo" texuniform="true"/>
</asset>
<worldbody>
<body>
<body name="object">
<geom pos="0 0 0" mesh="b_lego_duplo_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1" material="hidden" contype="0" conaffinity="0" group="1"/>
<geom pos="0 0 0" mesh="b_lego_duplo_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1" material="hidden" group="0"/>
</body>
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.042" name="bottom_site"/>
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.075" name="top_site"/>
<site rgba="0 0 0 0" size="0.005" pos="0.0254 0.0254 0" name="horizontal_radius_site"/>
</body>
</worldbody>
</mujoco>
|
XML
|
<mujoco model="Rope">
<!-- Copyright © 2018, Roboti LLC
This file is licensed under the MuJoCo Resource License (the "License").
You may not use this file except in compliance with the License.
You may obtain a copy of the License at
https://www.roboti.us/resourcelicense.txt
-->
<include file="scene.xml"/>
<option timestep="0.002" jacobian="dense"/>
<size nconmax="100" njmax="300" nstack="50000"/>
<worldbody>
<body name="B10" pos="0 0 1">
<freejoint/>
<composite type="rope" count="21 1 1" spacing="0.04" offset="0 0 2">
<joint kind="main" damping="0.005"/>
<geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
|
XML
|
<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<asset>
<material name="table_mat" specular="0" shininess="0" reflectance="0.5" rgba="0.4 0.8 0.4 1"></material>
</asset>
<worldbody>
<body pos="0.80 0.0 0.76" name="table0">
<geom size="0.896 0.896 0.01" solimp="0.0 0.55 0.001" solref="0.002 1" condim="3" margin="0" type="box" mass="2000" material="table_mat" name="table0"></geom>
</body>
</worldbody>
</mujoco>
|
XML
|
<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="./stls" texturedir="./textures"/>
<option timestep="0.002">
<flag warmstart="enable"/>
</option>
<include file="shared.xml"/>
<worldbody>
<geom name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" condim="3" material="floor_mat"/>
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
</body>
<include file="robot.xml"/>
<body pos="1.3 0.75 0.2" name="table0">
<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"/>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false"
pos="0 0 4" dir="0 0 -1" name="light0"/>
</worldbody>
<actuator/>
</mujoco>
|
XML
|
<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="0.8 0.75 0" size="0.85 0.70 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 0.5" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<body pos="1.3 0.75 0.2" name="table0">
<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
</body>
<body name="object0" pos="0.025 0.025 0.025">
<joint name="object0:joint" type="free" damping="0.01"></joint>
<geom size="0.025 0.025 0.025" type="box" condim="3" name="object0" material="block_mat" mass="2"></geom>
<site name="object0" pos="0 0 0" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
</worldbody>
<actuator></actuator>
</mujoco>
|
XML
|
<mujoco model="hammerblock">
<include file="assets/hammer_dependencies.xml"/>
<include file="../scene/basic_scene.xml"/>
<worldbody>
<include file="assets/hammerblock.xml"/>
</worldbody>
</mujoco>
|
XML
|
<mujoco>
<body name="valve" euler="0 0 0" pos="0 0 0">
<joint name="valve_position" axis="0 0 1.0" limited="false" frictionloss=".1"/>
<geom class="visual" type="cylinder" euler="0 0 0" pos="0 0 0.02" size="0.0075 0.02" mass=".05"/>
<geom class="visual" type="capsule" euler="1.57079632679 0 0" pos="0 0 0.04" size="0.0075 0.04" mass=".10"/>
<geom class="visual" type="capsule" euler="1.57079632679 1.57079632679 0" pos="0 0 0.04" size="0.0075 0.04"
mass=".10"/>
<site name="valve_center" pos="0 0 0.04" euler="0 0 0" size="0.005, 0.005, 0.005"/>
</body>
</mujoco>
|
XML
|
<mujoco>
<include file="../scene/basic_scene.xml"/>
<include file="../objects/assets/basketball_dependencies.xml"/>
<include file="../objects/assets/xyz_base_dependencies.xml"/>
<worldbody>
<body name="bsktball" pos="0 0.6 0.03">
<freejoint/>
<include file="../objects/assets/basketball.xml"/>
</body>
<include file="../objects/assets/xyz_base.xml"/>
<body name="basket_goal" pos="0. 0.9 0">
<include file="../objects/assets/basketballhoop.xml"/>
</body>
</worldbody>
<actuator>
<position ctrllimited="true" ctrlrange="-1 1" joint="r_close" kp="400" user="1"/>
<position ctrllimited="true" ctrlrange="-1 1" joint="l_close" kp="400" user="1"/>
</actuator>
<equality>
<weld body1="mocap" body2="hand" solref="0.02 1"></weld>
</equality>
</mujoco>
|
XML
|
<mujoco model="Cloth">
<!-- Copyright © 2018, Roboti LLC
This file is licensed under the MuJoCo Resource License (the "License").
You may not use this file except in compliance with the License.
You may obtain a copy of the License at
https://www.roboti.us/resourcelicense.txt
-->
<include file="scene.xml"/>
<option timestep="0.002" solver="CG" tolerance="1e-6"/>
<size nconmax="300" njmax="1000" nstack="1000000"/>
<worldbody>
<body name="B3_5" pos="0 0 1">
<freejoint/>
<composite type="cloth" count="9 9 1" spacing="0.05" flatinertia="0.01">
<joint kind="main" damping="0.001"/>
<skin material="matcarpet" texcoord="true" inflate="0.005" subgrid="2"/>
<geom type="capsule" size="0.015 0.01" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
|
XML
|
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../../stls/fetch" texturedir="../../textures" />
<option timestep="0.002">
<flag warmstart="enable" />
</option>
<include file="../shared.xml" />
<asset>
<mesh file="../../stls/fetch/random_urdfs/842/842.stl" name="obj0" scale="0.0324688212876478 0.0324688212876478 0.0324688212876478" />
</asset>
<worldbody>
<geom condim="3" material="floor_mat" name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" />
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" rgba="1 0 0 0" size="0.02 0.02 0.02" type="sphere" />
</body>
<include file="../robot.xml" />
<body name="table" pos="1.3 0.75 0.2">
<joint damping="0.01" name="table:joint" type="free" />
<geom mass="2000" material="table_mat" size="0.25 0.5 0.2" type="box" />
<body name="switch" pos="0.03291158236913681 0.1986672365633009 0.2276781278787086">
<joint axis="0 1 0" damping="5" frictionloss="50" name="switch" pos="0 0 0" range="0 0.2" type="slide" />
<geom condim="3" mass="2" material="block_mat" mesh="obj0" pos="0 0 0" type="mesh" />
<site name="switch" pos="0 0 0" rgba="0 1 0 0" size="0.03 0.03 0.03" type="sphere" />
</body>
</body>
<light ambient="0.2 0.2 0.2" castshadow="false" diffuse="0.8 0.8 0.8" dir="0 0 -1" directional="true" name="light0" pos="0 0 4" specular="0.3 0.3 0.3" />
</worldbody>
</mujoco>
|
XML
|
<mujocoinclude>
<body childclass="peg_block_base">
<geom material="peg_block_red" mesh="block_inner" pos="0 0 0.095"/>
<geom material="peg_block_wood" mesh="block_outer" pos="0 0 0.1"/>
<geom class="peg_block_col" pos="0 0 0.195" size="0.09 0.1 0.005" type="box"/>
<geom class="peg_block_col" pos="0 0 0.05" size="0.09 0.096 0.05" type="box"/>
<geom class="peg_block_col" pos="-0.06 0 0.13" size="0.03 0.096 0.03" type="box"/>
<geom class="peg_block_col" pos="0.06 0 0.13" size="0.03 0.096 0.03" type="box"/>
<geom class="peg_block_col" pos="0 0 0.175" size="0.09 0.096 0.015" type="box"/>
<geom class="peg_block_col" pos="0.095 0 0.1" size="0.005 0.1 0.1" type="box"/>
<geom class="peg_block_col" pos="-0.095 0 0.1" size="0.005 0.1 0.1" type="box"/>
<site name="hole" pos="0 -.096 0.13" size="0.005" rgba="0 0.8 0 1"/>
</body>
</mujocoinclude>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-007999_outer=0-10_height=0-05_num_facets=16_id=053.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<mujocoinclude>
<body name="top_link" pos="0 0 0.075">
<geom material="box_wood" mesh="boxtop" pos="0 0 -0.005" type="mesh"/>
<geom material="box_metal" euler="1.57 0 0" mesh="boxhandle" pos="0 0 0.082" type="mesh" name="BoxHandleGeom"/>
<geom class="top_col" pos="0.11 -0.0 -0.008" size="0.005 0.115 0.008" type="box" mass=".02"/>
<geom class="top_col" pos="0.0 -0.0 0.003" size="0.115 0.115 0.003" type="box" mass=".02"/>
<geom class="top_col" pos="-0.11 -0.0 -0.008" size="0.005 0.115 0.008" type="box" mass=".02"/>
<geom class="top_col" pos="0.0 -0.11 -0.008" size="0.115 0.005 0.008" type="box" mass=".02"/>
<geom class="top_col" pos="0.0 0.11 -0.008" size="0.115 0.005 0.008" type="box" mass=".02"/>
<geom class="top_col" euler="1.57 0.0 0.0" pos="0 0 0.082" size="0.008 0.05" type="capsule" mass=".05"/>
<geom class="top_col" pos="0 -0.05 0.043" size="0.008 0.035" type="capsule" mass=".05"/>
<geom class="top_col" pos="0 0.05 0.043" size="0.008 0.035" type="capsule" mass=".05"/>
</body>
</mujocoinclude>
|
XML
|
<mujoco model="pendulum">
<include file="./common/visual.xml"/>
<include file="./common/skybox.xml"/>
<include file="./common/materials.xml"/>
<option timestep="0.01" integrator="RK4" tolerance="1e-12">
<flag contact="disable" energy="enable"/>
</option>
<worldbody>
<light name="light" pos="0 0 3"/>
<geom name="floor" size="2 2 .2" type="plane" material="grid"/>
<camera name="fixed" pos="0 -1.5 2" xyaxes='1 0 0 0 1 1'/>
<camera name="lookat" mode="targetbodycom" target="pole" pos="0 -2 1"/>
<body name="pole" pos="0 0 1.1">
<joint name="hinge" type="hinge" axis="0 1 0" damping="0.00"/>
<geom name="base" material="decoration" type="cylinder" fromto="0 -.03 0 0 .03 0" size="0.021" mass="0"/>
<geom name="pole" material="self" type="capsule" fromto="0 0 0 0 0 1" size="0.02" mass="1"/>
</body>
</worldbody>
<actuator>
<motor name="torque" joint="hinge" gear="1" ctrlrange="-100 100" ctrllimited="false"/>
</actuator>
</mujoco>
|
XML
|
<mujoco>
<default class="main">
<geom size="1 1 1" rgba="1 0 0 1" />
<default class="sub">
<geom rgba="0 1 0 1" />
</default>
</default>
<worldbody>
<geom type="box" />
<body childclass="sub" name="body0">
<geom type="ellipsoid"/>
<geom type="sphere" rgba="0 0 1 0"/>
<geom type="cylinder" class="main"/>
</body>
</worldbody>
</mujoco>
|
XML
|
<mujoco model="block">
<include file="assets/block_dependencies.xml"/>
<include file="../scene/basic_scene.xml"/>
<worldbody>
<body pos="0 0.4 0">
<freejoint/>
<include file="assets/block.xml"/>
</body>
</worldbody>
</mujoco>
|
XML
|
<?xml version="1.0"?>
<mujocoinclude>
<compiler inertiafromgeom="auto" inertiagrouprange="4 4" angle="radian"/>
<asset>
<mesh file="../kitchen/meshes/kettle.stl" name="kettle"/>
<mesh file="../kitchen/meshes/kettlehandle.stl" name="kettlehandle"/>
<texture name="T_kettle_metal" type="cube" height="1" width="1" file="../kitchen/textures/metal1.png"/>
<texture name="T_kettle_wood" type="cube" height="1" width="1" file="../kitchen/textures/wood1.png"/>
<material name="kettle_wood" rgba="1 1 1 1" texture="T_kettle_wood" texrepeat="3 3" reflectance="1" shininess="1" texuniform="false"/>
<material name="kettle_metal" rgba="1 1 1 1" texture="T_kettle_metal" texrepeat="3 3" reflectance="1" shininess="1" texuniform="false"/>
<material name="kettle_white" rgba=".9 .9 .9 1" reflectance="1" shininess="1"/>
<material name="kettle_collision_blue" rgba="0.3 0.3 1.0 0.5" shininess="0" specular="0"/>
</asset>
<default class="kettle">
<joint damping="2" frictionloss="2" armature=".01" limited="true"/>
<geom conaffinity="0" contype="0" group="1" material="kettle_white" type="mesh"/>
<default class="kettle_collision">
<geom conaffinity="1" condim="4" contype="1" group="4" margin="0.001" material="kettle_collision_blue" solimp=".8 .9 .01" solref=".02 1" type="mesh"/>
</default>
</default>
</mujocoinclude>
|
XML
|
<!-- Included by `model_with_include.xml` -->
<mujoco>
<compiler meshdir="meshes"/>
<asset>
<mesh name="cube_mesh" file="cube.stl"/>
</asset>
<worldbody>
<geom name="cube" type="mesh" mesh="cube_mesh"/>
</worldbody>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5"/>
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-006848_outer=0-10_height=0-05_num_facets=16_id=091.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml"/>
</sensor>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5"/>
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-020779_outer=0-10_height=0-05_num_facets=16_id=014.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml"/>
</sensor>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-006856_outer=0-10_height=0-05_num_facets=16_id=090.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<mujocoinclude>
<body childclass="stick_base">
<geom material="stick_blue" mesh="stick"/>
<geom class="stick_col" size="0.05 0.02 0.02" type="box" mass=".02"/>
</body>
</mujocoinclude>
|
XML
|
<mujoco model="coffeemachine">
<include file="assets/coffeemachine_dependencies.xml"/>
<include file="../scene/basic_scene.xml"/>
<worldbody>
<include file="assets/coffeemachine.xml"/>
</worldbody>
</mujoco>
|
XML
|
<mujoco>
<mesh name="object_mesh:teapot_vhacd_m_part0" scale="0.005 0.005 0.005" file="objects/teapot/teapot_vhacd_m_part0.stl"/>
<mesh name="object_mesh:teapot_vhacd_m_part1" scale="0.005 0.005 0.005" file="objects/teapot/teapot_vhacd_m_part1.stl"/>
<mesh name="object_mesh:teapot_vhacd_m_part2" scale="0.005 0.005 0.005" file="objects/teapot/teapot_vhacd_m_part2.stl"/>
<mesh name="object_mesh:teapot_vhacd_m_part3" scale="0.005 0.005 0.005" file="objects/teapot/teapot_vhacd_m_part3.stl"/>
<mesh name="object_mesh:teapot_vhacd_m_part4" scale="0.005 0.005 0.005" file="objects/teapot/teapot_vhacd_m_part4.stl"/>
<mesh name="object_mesh:teapot_vhacd_m_part5" scale="0.005 0.005 0.005" file="objects/teapot/teapot_vhacd_m_part5.stl"/>
</mujoco>
|
XML
|
<mujoco>
<asset>
<!--grid ground texture definition: type="2d", builtin="checker"-->
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512"/>
<!--sky background definition: type="skybox"-->
<texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".3 .7 .9" type="skybox" width="256"/>
<!--grid ground material definition: Mirror Geom（reflectance：0.3）-->
<material name="MatGnd" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
</asset>
<worldbody>
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
<geom name="ground" pos="0 0 0" size="5 5 10" material="MatGnd" type="plane" contype="1" conaffinity="1"/>
<body pos="0 0 2">
<joint type="free"/>
<geom type="sphere" size="0.2" rgba="0 .9 0 1" contype="1" conaffinity="1" solref="-10000 -6"/>
</body>
</worldbody>
</mujoco>
|
XML
|
<mujoco model="cubic_with_sites">
<worldbody>
<body name="cubic_with_sites" pos="0.5 0.0 0.0" quat="0 0 0 0">
<joint damping="0.01" name="cubic_with_sites:joint" type="free" />
<inertial diaginertia="3 3 3" mass=".1" pos="0 0 0 " />
<geom conaffinity="3" contype="3" density="0" name="cubic_with_sites:geom1" pos="0 0 0" rgba="0.4 0.65 0.89 1" size="0.02 0.02 0.02" type="box" />
</body>
</worldbody>
</mujoco>
|
XML
|
<mujocoinclude>
<body childclass="soccer_base" name="soccer_ball1">
<geom material="soccer_white" mesh="soccer_white"/>
<geom material="soccer_black" mesh="soccer_black"/>
<geom class="soccer_col" type="sphere" size=".026" mass=".02"/>
</body>
</mujocoinclude>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".6 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body name="experiment_table" pos=".8 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos=".3 0 -.5" />
<include file="valve/valve_collision.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<mujoco model="LISN_Arm">
<!-- =================================================
Copyright 2021 Yanyan Yuan
Model :: LISNM_Arm (MuJoCoV2.0)
Author :: Yanyan Yuan (yuanyan_hy@zju.edu.cn)
source :: https://github.com/stylite-y/LISM
License :: Under Apache License, Version 2.0 (the "License");
Description :: this file is LISM_Arm .xml run file
Parameter ::
basic_scene.xml: the definition of sky-background , ground and other geom
assets.xml : the definition of default simulation engine settings, assets, default class and sensor
limb.xml : the definition of LISM arm whole body model
actuator.xml : the definition of actuator settings
====================================================== -->
<include file="assets/basic_scene.xml"/>
<include file="assets/assets.xml"/>
<compiler meshdir=""/>
<worldbody>
<include file="assets/limb.xml"/>
</worldbody>
<include file='assets/actuator.xml'/>
</mujoco>
|
XML
|
<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="../stls/fetch" texturedir="../textures"></compiler>
<option timestep="0.002">
<flag warmstart="enable"></flag>
</option>
<include file="shared.xml"></include>
<worldbody>
<geom name="floor0" pos="0.8 0.75 0" size="0.85 0.7 1" type="plane" condim="3" material="floor_mat"></geom>
<body name="floor0" pos="0.8 0.75 0">
<site name="target0" pos="0 0 0.5" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"></site>
</body>
<include file="robot.xml"></include>
<body pos="1.3 0.75 0.2" name="table0">
<geom size="0.25 0.35 0.2" type="box" mass="2000" material="table_mat"></geom>
</body>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.8 0.8 0.8" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 4" dir="0 0 -1" name="light0"></light>
<light directional="true" ambient="0.2 0.2 0.2" diffuse="0.2 0.2 0.2" specular="0.3 0.3 0.3" castshadow="false" pos="0 0 -300" dir="0 0 1" name="light1"></light>
<body name="cam_focus" pos="1.3 0.75 .5">
<geom size="0.025 0.025 0.025" type="sphere" rgba="1 0 0 0"></geom>
</body>
<camera name="cam_0" mode="targetbody" target="cam_focus" pos="1.3 0.75 -0.2"></camera>
</worldbody>
<actuator></actuator>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-015313_outer=0-10_height=0-05_num_facets=16_id=022.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="disable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-009560_outer=0-10_height=0-05_num_facets=16_id=040.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<mujoco model="bread-visual">
<asset>
<mesh file="meshes/bread.stl" name="bread_mesh" scale="0.8 0.8 0.8"/>
</asset>
<worldbody>
<body>
<body name="object">
<geom pos="0 0 0" mesh="bread_mesh" type="mesh" rgba="0.8 0.8 0.8 0.3" conaffinity="0" contype="0" group="1" mass="0.0001"/>
</body>
<site rgba="0 0 0 0" size="0.005" pos="0 0 -0.045" name="bottom_site"/>
<site rgba="0 0 0 0" size="0.005" pos="0 0 0.03" name="top_site"/>
<site rgba="0 0 0 0" size="0.005" pos="0.03 0.03 0" name="horizontal_radius_site"/>
</body>
</worldbody>
</mujoco>
|
XML
|
<mujoco>
<body name="nail_base" euler="0 0 0" pos="0 0 0">
<body name="nail" euler="0 0 0" pos="0 0 .1">
<joint type="slide" name="nail_position" pos="0 0 0" axis="0 0 1.0" limited="true" range="-0.1 0"
frictionloss="50.0"
solimpfriction="1 .9 0.001"/><!-- damping="500.0" --> <!-- solreffriction="" solimpfriction="" -->
<geom class="collision" type="cylinder" euler="0 0 0" pos="0 0 0.05" size="0.0075 0.05" mass=".05"/>
<geom class="collision" type="cylinder" euler="0 0 0" pos="0 0 0.105" size="0.015 0.005" mass=".05"/>
<site name="nail_top" pos="0 0 0.105" euler="0 0 0" size="0.005 0.005 0.005"/>
</body>
<geom class="collision" type="box" euler="0 0 0" pos="0 0 0" size="0.1 0.1 0.1"/>
</body>
</mujoco>
|
XML
|
<mujoco model="franka_panda v200">
<!-- =================================================
Model :: Franka (MuJoCoV2.0)
Original:: See https://github.com/vikashplus/franka_sim
====================================================== -->
<include file="panda/basic_scene.xml"/>
<include file="panda/assets.xml"/>
<compiler meshdir=""/>
<worldbody>
<include file="panda/chain0.xml"/>
</worldbody>
<include file="panda/actuator0.xml"/>
</mujoco>
|
XML
|
<!--# Created by Xinchao Song on May 21, 2020.-->
<mujoco>
<default class="beam-y">
<geom type="box" size="9 0.25 0.25" quat="0 1 1 0" density="1160" rgba="1 1 1 0.5"/>
</default>
<default class="beam-z">
<geom type="box" size="0.75 0.25 0.25" quat="1 0 1 0" density="1160" rgba="1 1 1 0.5"/>
</default>
</mujoco>
|
XML
|
<mujoco model="plate-visual">
<worldbody>
<body>
<body name="object">
<geom pos="0 0 0" size="0.01 0.01 0.016" type="box" conaffinity="0" contype="0" group="1" mass="0.0001" rgba="0.8 0.8 0.8 0.3"/>
<geom pos="0 0 0.016" size="0.06 0.005" type="cylinder" conaffinity="0" contype="0" group="1" mass="0.0001" rgba="0.8 0.8 0.8 0.3"/>
</body>
<site rgba="0 0 0 0" size="0.001" pos="0.0 0.0 -0.02" name="bottom_site"/>
<site rgba="0 0 0 0" size="0.001" pos="0.0 0.0 0.034" name="top_site"/>
<site rgba="0 0 0 0" size="0.001" pos="0.06 0 0" name="horizontal_radius_site"/>
</body>
</worldbody>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-017711_outer=0-10_height=0-05_num_facets=16_id=018.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<mujocoinclude>
<body childclass="shelf_base">
<geom material="shelf_wood" mesh="shelf" pos="0 -0.015 0.24"/>
<geom material="shelf_white" mesh="shelf_supports" pos="0 0 0.04"/>
<geom class="shelf_col" pos="-0.11 0 0.32" size="0.01 0.1 0.32" type="box"/>
<geom class="shelf_col" pos="0.11 0 0.32" size="0.01 0.1 0.32" type="box"/>
<geom class="shelf_col" pos="0 0 0.65" size="0.12 0.1 0.01" type="box"/>
<geom class="shelf_col" pos="0 -0.015 0.24" size="0.1 0.095 0.01" type="box"/>
<geom class="shelf_col" pos="0 -0.015 0.05" size="0.1 0.095 0.01" type="box"/>
<geom class="shelf_col" pos="0 0.09 0.32" size="0.1 0.01 0.32" type="box"/>
<geom class="shelf_col" pos="0.0 -0.008 0.021" size="0.1 0.088 0.021" type="box"/>
<site name="goal" pos="0 0 0.3" size="0.02" rgba="0 0.8 0 1"/>
</body>
</mujocoinclude>
|
XML
|
<!--
A freely movable cube (along X and Z) for testing purposes
-->
<mujoco model="testcube2d">
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
<option integrator="RK4" timestep="0.01"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint armature="1" damping="10" limited="true"/>
<geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/>
<motor ctrllimited="true" ctrlrange="-1 1"/>
</default>
<worldbody>
<body name="torso" pos="0 0 0.3">
<camera name="side" mode="trackcom" pos="0 -6 1" euler="80 0 0"/>
<geom name="torso" pos="0 0 0" size="0.2 0.2 0.2" type="box"/>
<joint name="slidex" type="slide" pos="0 0 0" axis="1 0 0" range="-1000 1000"/>
<joint name="slidez" type="slide" pos="0 0 0" axis="0 0 1" range="-1000 1000"/>
</body>
</worldbody>
<actuator>
<motor name="x" joint="slidex" gear="50"/>
<motor name="z" joint="slidez" gear="50"/>
</actuator>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5" />
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-011659_outer=0-10_height=0-05_num_facets=16_id=031.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml" />
</sensor>
</mujoco>
|
XML
|
<!--
Common textures, colors and materials to be used throughout this suite. Some
materials such as xxx_highlight are activated on occurence of certain events,
for example receiving a positive reward.
-->
<mujoco>
<asset>
<texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
<material name="self" rgba=".7 .5 .3 1"/>
<material name="self_default" rgba=".7 .5 .3 1"/>
<material name="self_highlight" rgba="0 .5 .3 1"/>
<material name="effector" rgba=".7 .4 .2 1"/>
<material name="effector_default" rgba=".7 .4 .2 1"/>
<material name="effector_highlight" rgba="0 .5 .3 1"/>
<material name="decoration" rgba=".3 .5 .7 1"/>
<material name="eye" rgba="0 .2 1 1"/>
<material name="target" rgba=".6 .3 .3 1"/>
<material name="target_default" rgba=".6 .3 .3 1"/>
<material name="target_highlight" rgba=".6 .3 .3 .4"/>
</asset>
</mujoco>
|
XML
|
<?xml version="1.0" ?>
<mujoco>
<compiler angle="radian" coordinate="local" meshdir="meshes/"/>
<option>
<flag gravity="enable"/>
</option>
<default>
<joint damping="0.5"/>
<default class="visual">
<geom contype="0" conaffinity="0"/>
</default>
<default class="collision">
<geom contype="1" conaffinity="1" friction=".2 0.005 0.0001"/>
</default>
<site rgba="1 0 0 .5"/>
</default>
<asset>
<include file="kuka/kuka_assets.xml"/>
<texture type="skybox" builtin="gradient" rgb1="1 1 1" rgb2=".6 .8 1" width="256" height="256"/>
</asset>
<worldbody>
<light pos="0 0 1000" castshadow="false"/>
<geom class="collision" type="plane" size="10 10 1" rgba=".8 .8 .8 1"/>
<body name="kuka_table" pos="0 0 1">
<geom class="collision" type="box" size=".5 .5 .5" pos="0 0 -.5"/>
<body name="kuka_base" pos=".2 0 0">
<include file="kuka/kuka_mesh_collision_peg_ee.xml"/>
</body>
</body>
<body pos=".85 0 1.3" mocap="true">
<include file="hole/polyhedral_hole_inner=0-007784_outer=0-10_height=0-05_num_facets=16_id=056.xml"/>
</body>
</worldbody>
<actuator>
<include file="kuka/kuka_actuators.xml"/>
</actuator>
<sensor>
<include file="peg/peg_sensors.xml"/>
</sensor>
</mujoco>
|
XML
|
<mujocoinclude model="">
<!-- =================================================
Copyright 2019 Vikash Kumar
Model :: Objects (MuJoCoV2.0)
Author :: Vikash Kumar (vikashplus@gmail.com), Sudeep Dasari (sdasari@andrew.cmu.edu )
Details :: https://github.com/vikashplus/object_sim
License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -©vk©-->
<geom name="cubemiddle_visual" mesh="cubemiddle"/>
<geom name="cubemiddle_contact0" mesh="contact0" class="object_col"/>
</mujocoinclude>
|
XML
|
<!--
Common textures, colors and materials to be used throughout this suite. Some
materials such as xxx_highlight are activated on occurence of certain events,
for example receiving a positive reward.
-->
<mujoco>
<asset>
<texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3" rgb2=".2 .3 .4" width="300" height="300" mark="edge" markrgb=".2 .3 .4"/>
<material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
<material name="self" rgba=".7 .5 .3 1"/>
<material name="self_default" rgba=".7 .5 .3 1"/>
<material name="self_highlight" rgba="0 .5 .3 1"/>
<material name="effector" rgba=".7 .4 .2 1"/>
<material name="effector_default" rgba=".7 .4 .2 1"/>
<material name="effector_highlight" rgba="0 .5 .3 1"/>
<material name="decoration" rgba=".3 .5 .7 1"/>
<material name="eye" rgba="0 .2 1 1"/>
<material name="target" rgba=".6 .3 .3 1"/>
<material name="target_default" rgba=".6 .3 .3 1"/>
<material name="target_highlight" rgba=".6 .3 .3 .4"/>
<material name="site" rgba=".5 .5 .5 .3"/>
</asset>
</mujoco>
|
XML
|
<mujoco model="inverted pendulum">
<compiler inertiafromgeom="true"/>
<default>
<joint armature="0" damping="1" limited="true"/>
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
<tendon/>
<motor ctrlrange="-3 3"/>
</default>
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
<size nstack="3000"/>
<worldbody>
<!--geom name="ground" type="plane" pos="0 0 0" /-->
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
<body name="cart" pos="0 0 0">
<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
<body name="pole" pos="0 0 0">
<joint axis="0 1 0" name="hinge" pos="0 0 0" range="-90 90" type="hinge"/>
<geom fromto="0 0 0 0.001 0 1.2" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
<!-- <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
</body>
</body>
</worldbody>
<actuator>
<motor gear="100" joint="slider" name="slide"/>
</actuator>
</mujoco>
|
XML
|
<mujoco>
<body name="red_bin_v1" pos="0.632 0.0 0.0015">
<joint name="red_bin_v1:joint" type="free" damping="0.1"/>
<geom type="mesh" mesh="red_bin_v1" conaffinity="0" contype="0" rgba="0.5 0.1 0.1 1"/>
<geom pos="0 0 0.009" type="box" size="0.115 0.07 0.01" rgba="1 1 1 0"/>
<geom pos="0 0.07 0.075" type="box" size="0.115 0.01 0.075" rgba="1 1 1 0"/>
<geom pos="0 -0.07 0.075" type="box" size="0.115 0.01 0.075" rgba="1 1 1 0"/>
<geom pos="0.115 0 0.075" type="box" size="0.01 0.07 0.075" rgba="1 1 1 0"/>
<geom pos="-0.115 0 0.075" type="box" size="0.01 0.07 0.075" rgba="1 1 1 0"/>
</body>
</mujoco>
|
XML
|
<mujocoinclude>
<body childclass="bin_base" name="binA">
<geom material="bin_red" mesh="bin" pos="0 0 0.03"/>
<geom class="bin_col" pos="0 -0.095 0.03" size="0.1 0.005 0.03" type="box" mass=".05"/>
<geom class="bin_col" pos="0 0.095 0.03" size="0.1 0.005 0.03" type="box" mass=".05"/>
<geom class="bin_col" pos="0.095 0 0.03" size="0.005 0.09 0.03" type="box" mass=".05"/>
<geom class="bin_col" pos="-0.095 0 0.03" size="0.005 0.09 0.03" type="box" mass=".05"/>
<geom class="bin_col" pos="0 0 0.005" size="0.1 0.1 0.005" type="box" mass=".1"/>
</body>
</mujocoinclude>
|
XML
|
<mujocoinclude model="apple">
<geom name="apple_visual" mesh="apple"/>
<geom name="apple_contact0" mesh="contact0" class="object_col"/>
<geom name="apple_contact1" mesh="contact1" class="object_col"/>
</mujocoinclude>
|
XML
|
<mujoco model="Textured cube and mesh">
<compiler meshdir="meshes" texturedir="textures"/>
<asset>
<mesh name="cube" file="cube.stl"/>
<mesh name="another_cube" file="more_meshes/cube.stl"/>
<mesh name="unused_asset_should_not_cause_problems" file="cube.stl"/>
<texture name="texture" file="deepmind.png"/>
<material name="mat_texture" texture="texture"/>
<hfield name="hill" file="../textures/deepmind.png" size="0.5 0.5 0.5 0.1"/>
</asset>
<worldbody>
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
<geom type="mesh" mesh="cube" material="mat_texture"/>
<geom type="mesh" mesh="another_cube" material="mat_texture" pos="2.5 0. 0."/>
<geom type="hfield" hfield="hill" pos="1.2 0. 0" rgba="0. 0.9 0. 1" size="40 40 0.1"/>
</worldbody>
</mujoco>
|
XML
|
<?xml version="1.0" encoding="utf-8"?>
<mujoco>
<include file="shared_config.xml"></include>
<worldbody>
<include file="sawyer_wsg_base.xml"></include>
<site name="hand-goal-site" pos="0 0 0" size="0.05"
rgba="1 0.5 0.5 0.5"/>
<light name="light0" mode="fixed" directional="false" active="true" castshadow="true" pos = "0 0 3"/>
</worldbody>
<!--begin_auto_replace -->
<include file="objects.xml"/>
<!--end_auto_replace -->
<actuator>
<position ctrllimited="true" ctrlrange="-0.2 0.2" forcelimited = "true" forcerange="-40 40" joint="base_joint_gripper_left" kp="30000"/>
<position ctrllimited="true" ctrlrange="-0.2 0.2" forcelimited = "true" forcerange="-40 40" joint="base_joint_gripper_right" kp="30000"/>
</actuator>
</mujoco>
|
End of preview.