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yuchi233
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Placement_Assets

Tasks:
Robotics
Tags:
robotics
mujoco
mjcf
assets
placement
License:
Dataset card Files
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yuchi233 commited on
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949b54e
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1 Parent(s): 511cd0e

Upload folder using huggingface_hub (part 6)

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Files changed (29) hide show
  1. assets/discoverse/collections/models/discoverse_models/mjcf/skyrover_floor.xml +55 -0
  2. assets/discoverse/collections/models/discoverse_models/mjcf/skyrover_on_rm2_car.xml +64 -0
  3. assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/block_bridge_place.xml +64 -0
  4. assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/close_laptop.xml +24 -0
  5. assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/cover_cup.xml +22 -0
  6. assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/open_drawer.xml +7 -0
  7. assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/peg_in_hole.xml +20 -0
  8. assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/pick_jujube.xml +14 -0
  9. assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_block.xml +17 -0
  10. assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_coffeecup.xml +17 -0
  11. assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_jujube.xml +18 -0
  12. assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_jujube_coffeecup.xml +27 -0
  13. assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_kiwi_fruit.xml +17 -0
  14. assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/push_mouse.xml +16 -0
  15. assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/stack_block.xml +22 -0
  16. assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/cabinet_door_open.xml +37 -0
  17. assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/coffeecup_plate.xml +63 -0
  18. assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/drawer_open.xml +38 -0
  19. assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/jujube_pick.xml +139 -0
  20. assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/kiwi_place.xml +139 -0
  21. assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/pan_pick.xml +132 -0
  22. assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/pick_box.xml +124 -0
  23. assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/pick_kiwi.xml +131 -0
  24. assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/place_spoon.xml +49 -0
  25. assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/pour_tea.xml +48 -0
  26. assets/discoverse/collections/models/discoverse_models/mjcf/tok2_floor.xml +39 -0
  27. assets/discoverse/collections/models/discoverse_models/urdf/airbot_play_v3_gripper.urdf +281 -0
  28. assets/discoverse/collections/models/discoverse_models/urdf/airbot_play_v3_gripper_fixed.urdf +281 -0
  29. assets/discoverse/collections/models/discoverse_models/urdf/mmk2_s_g2.urdf +1160 -0
assets/discoverse/collections/models/discoverse_models/mjcf/skyrover_floor.xml ADDED
@@ -0,0 +1,55 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="skyrover">
2
+
3
+ <include file="skyrover/skyrover_options.xml"/>
4
+ <include file="skyrover/skyrover_dependencies.xml"/>
5
+ <include file="skyrover/skyrover_config.xml"/>
6
+
7
+ <visual>
8
+ <global offwidth="1920" offheight="1080"/>
9
+ <quality shadowsize="4096" offsamples="4"/>
10
+ <headlight diffuse='0.6 0.6 0.6' ambient='.3 .3 .3' specular='0 0 0'/>
11
+ <scale com="0.05" camera="0.06" framelength="0.5" framewidth="0.02" forcewidth="0.1" contactwidth="0.01" contactheight="0.05"/>
12
+ </visual>
13
+
14
+ <asset>
15
+ <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'/>
16
+ <material name='groundplane' texture='groundplane' texuniform='true' texrepeat='5 5' reflectance='0.2'/>
17
+ </asset>
18
+
19
+ <asset>
20
+ <!-- For environment -->
21
+ <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
22
+ <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
23
+ <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
24
+ <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
25
+ <material name="geom" texture="texgeom" texuniform="true"/>
26
+ </asset>
27
+
28
+ <worldbody>
29
+ <!-- Light -->
30
+ <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
31
+
32
+ <!-- Floor -->
33
+ <body name="floor">
34
+ <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
35
+ </body>
36
+
37
+ <camera name="skyrover_track_1" mode="trackcom" pos="0.851 -0.659 0.656" xyaxes="0.594 0.805 -0.000 -0.342 0.253 0.905"/>
38
+ <camera name="skyrover_track_2" mode="trackcom" pos="-0.546 -0.799 0.659" xyaxes="0.826 -0.563 0.000 0.283 0.415 0.865"/>
39
+
40
+ <!-- SkyRover robot -->
41
+ <body name="skyrover" pos="0 0 0.122">
42
+ <include file="skyrover/skyrover.xml"/>
43
+ </body><!-- SkyRover ends -->
44
+
45
+ <!-- Visualization of the coordinate frame -->
46
+ <site name="qcX" type="box" pos="0.1 0.0 0.0" size="0.1 0.005 0.005" quat = " 1.0 0.0 0.0 0.0" rgba="1 0 0 1"/>
47
+ <site name="qcY" type="box" pos="0.0 0.1 0.0" size="0.1 0.005 0.005" quat = " 0.707 0.0 0.0 0.707" rgba="0 1 0 1"/>
48
+ <site name="qcZ" type="box" pos="0.0 0.0 0.1" size="0.1 0.005 0.005" quat = "-0.707 0.0 0.707 0.0" rgba="0 0 1 1"/>
49
+ </worldbody>
50
+
51
+ <actuator>
52
+ <include file="skyrover/skyrover_control.xml"/>
53
+ </actuator>
54
+
55
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/skyrover_on_rm2_car.xml ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="skyrover_on_rm2_car">
2
+
3
+ <include file="skyrover/skyrover_options.xml"/>
4
+ <include file="skyrover/skyrover_dependencies.xml"/>
5
+ <include file="skyrover/skyrover_config.xml"/>
6
+
7
+ <!-- <include file="rm2_car/rm2_car_options.xml"/> -->
8
+ <include file="rm2_car/rm2_car_dependencies.xml"/>
9
+ <include file="rm2_car/rm2_car_config.xml"/>
10
+
11
+ <visual>
12
+ <global offwidth="1920" offheight="1080"/>
13
+ <quality shadowsize="4096" offsamples="4"/>
14
+ <headlight diffuse='0.6 0.6 0.6' ambient='.3 .3 .3' specular='0 0 0'/>
15
+ <scale com="0.05" camera="0.06" framelength="0.5" framewidth="0.02" forcewidth="0.1" contactwidth="0.01" contactheight="0.05"/>
16
+ </visual>
17
+
18
+ <asset>
19
+ <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'/>
20
+ <material name='groundplane' texture='groundplane' texuniform='true' texrepeat='5 5' reflectance='0.2'/>
21
+ </asset>
22
+
23
+ <asset>
24
+ <!-- For environment -->
25
+ <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
26
+ <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
27
+ <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
28
+ <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
29
+ <material name="geom" texture="texgeom" texuniform="true"/>
30
+ </asset>
31
+
32
+ <worldbody>
33
+ <!-- Light -->
34
+ <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
35
+
36
+ <!-- Floor -->
37
+ <body name="floor">
38
+ <geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
39
+ </body>
40
+
41
+ <!-- SkyRover robot -->
42
+ <body name="skyrover" pos="0 0 1.122">
43
+ <include file="skyrover/skyrover.xml"/>
44
+ </body>
45
+ <!-- SkyRover ends -->
46
+
47
+ <!-- Visualization of the coordinate frame -->
48
+ <site name="qcX" type="box" pos="0.1 0.0 0.0" size="0.1 0.005 0.005" quat = " 1.0 0.0 0.0 0.0" rgba="1 0 0 1"/>
49
+ <site name="qcY" type="box" pos="0.0 0.1 0.0" size="0.1 0.005 0.005" quat = " 0.707 0.0 0.0 0.707" rgba="0 1 0 1"/>
50
+ <site name="qcZ" type="box" pos="0.0 0.0 0.1" size="0.1 0.005 0.005" quat = "-0.707 0.0 0.707 0.0" rgba="0 0 1 1"/>
51
+
52
+ <body name='car_robot' pos="0 0 0">
53
+ <joint type="free" frictionloss="0.0001" />
54
+ <include file="rm2_car/rm2_car_noarm.xml"/>
55
+ </body>
56
+
57
+ </worldbody>
58
+
59
+ <actuator>
60
+ <include file="skyrover/skyrover_control.xml"/>
61
+ <include file="rm2_car/rm2_car_control_all.xml"/>
62
+ </actuator>
63
+
64
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/block_bridge_place.xml ADDED
@@ -0,0 +1,64 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="block_bridge_place">
2
+ <include file="../object/bridge_dependencies.xml"/>
3
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
4
+ <worldbody>
5
+ <site name="manipulator_locate" pos="0.3 1. 0.71" euler="0 0 3.1416"/>
6
+ <body name="bridge1" pos="-0.03 0.42 0.8" euler="1.5707963 0 0">
7
+ <joint type="free" frictionloss="0.00001"/>
8
+ <include file="../object/bridge.xml"/>
9
+ </body>
10
+ <body name="bridge2" pos="-0.03 0.39 0.86" euler="-1.5707963 0 0">
11
+ <joint type="free" frictionloss="0.00001"/>
12
+ <inertial pos="0 0 0" mass="0.0005" diaginertia="0.00002 0.00002 0.00002"/>
13
+ <geom rgba="0.15 0.65 0.63 1" type="mesh" mesh="bridge" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001"/>
14
+ </body>
15
+ <body name="block1_green" pos="0.09 0.405 0.835" euler="1.5707963 0 0">
16
+ <joint type="free" frictionloss="0.0001"/>
17
+ <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002"/>
18
+ <geom rgba="0.3 0.6 0.075 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.015 0.03 0.015" type="box"/>
19
+ </body>
20
+ <body name="block2_green" pos="-0.09 0.405 0.83" euler="1.5707963 0 0">
21
+ <joint type="free" frictionloss="0.0001"/>
22
+ <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002"/>
23
+ <geom rgba="0.3 0.6 0.075 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.015 0.03 0.015" type="box"/>
24
+ </body>
25
+ <body name="block_purple1" pos="-0.08 0.345 0.815">
26
+ <joint type="free" frictionloss="0.0001"/>
27
+ <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002"/>
28
+ <geom rgba="0.65 0.27 0.64 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.0125 0.0125 0.0125" type="box"/>
29
+ </body>
30
+ <body name="block_purple2" pos="0 0.345 0.815">
31
+ <joint type="free" frictionloss="0.0001"/>
32
+ <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002"/>
33
+ <geom rgba="0.65 0.27 0.64 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.0125 0.0125 0.0125" type="box"/>
34
+ </body>
35
+ <body name="block_purple3" pos="0.08 0.345 0.815">
36
+ <joint type="free" frictionloss="0.0001"/>
37
+ <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002"/>
38
+ <geom rgba="0.65 0.27 0.64 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.0125 0.0125 0.0125" type="box"/>
39
+ </body>
40
+ <body name="block_purple4" pos="-0.08 0.285 0.815">
41
+ <joint type="free" frictionloss="0.0001"/>
42
+ <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002"/>
43
+ <geom rgba="0.65 0.27 0.64 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.0125 0.0125 0.0125" type="box"/>
44
+ </body>
45
+ <body name="block_purple5" pos="0 0.285 0.815">
46
+ <joint type="free" frictionloss="0.0001"/>
47
+ <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002"/>
48
+ <geom rgba="0.65 0.27 0.64 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.0125 0.0125 0.0125" type="box"/>
49
+ </body>
50
+ <body name="block_purple6" pos="0.08 0.285 0.815">
51
+ <joint type="free" frictionloss="0.0001"/>
52
+ <inertial pos="0 0 0" mass="0.001" diaginertia="0.00002 0.00002 0.00002"/>
53
+ <geom rgba="0.65 0.27 0.64 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001" pos="0 0 0" size="0.0125 0.0125 0.0125" type="box"/>
54
+ </body>
55
+ <body name="table-a" pos="0 0 0">
56
+ <geom size="0.3 0.6 0.01" pos="0 0 0.79" type="box" rgba="0.8 0.8 0.8 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="5 0.05 0.001"/>
57
+ <geom size="0.02 0.02 0.39" pos=" 0.28 0.56 0.39" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1"/>
58
+ <geom size="0.02 0.02 0.39" pos="-0.28 0.56 0.39" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1"/>
59
+ <geom size="0.02 0.02 0.39" pos=" 0.28 -0.56 0.39" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1"/>
60
+ <geom size="0.02 0.02 0.39" pos="-0.28 -0.56 0.39" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1"/>
61
+ </body>
62
+ </worldbody>
63
+ <include file="../scene/qz_lab3.xml"/>
64
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/close_laptop.xml ADDED
@@ -0,0 +1,24 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="close_laptop">
2
+ <include file="../object/kiwi_dependencies.xml"/>
3
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
4
+ <worldbody>
5
+ <site name="manipulator_locate" pos="0.3 1. 0.71" euler="0 0 3.1416"/>
6
+ <body name="lp1" pos="-0.025 0.925 0.7075" euler="0 0 3.1416">
7
+ <body name="laptop_1" pos="0.01 0 0"/>
8
+ <inertial pos="0 0 0" mass="0.35" diaginertia="0.0002 0.0002 0.0002"/>
9
+ <geom size="0.12 0.166 0.0075" pos="0 0 0" type="box" rgba="0.1 .1 .1 1"/>
10
+ <site name="laptop_bottom_site" pos="-0.12 0 0" euler="0 0 3.1416" size="0.001" type="sphere"/>
11
+ <body name="lp2" pos="0.12 0 0.0075">
12
+ <body name="laptop_2" pos="-0.00 0 0.005"/>
13
+ <joint name="laptop_joint" axis="0 1 0" range="0 3.14" damping="0.002" frictionloss="1"/>
14
+ <inertial pos="0 0 0" mass="0.005" diaginertia="0.000002 0.000002 0.000002"/>
15
+ <geom size="0.12 0.166 0.005" pos="-0.12 0 0.0025" type="box" density="10" rgba="0.1 .1 .1 1"/>
16
+ <site name="laptop_cam_site" pos="-0.24 0 0" euler="0 0 3.1416" size="0.001" type="sphere"/>
17
+ </body>
18
+ </body>
19
+ </worldbody>
20
+ <contact>
21
+ <exclude body1="lp1" body2="lp2"/>
22
+ </contact>
23
+ <include file="../scene/qz_lab3.xml"/>
24
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/cover_cup.xml ADDED
@@ -0,0 +1,22 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="cover_cup">
2
+ <include file="../object/coffeecup_dependencies.xml"/>
3
+ <include file="../object/plate_white_dependencies.xml"/>
4
+ <include file="../object/cup_lid_dependencies.xml"/>
5
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
6
+ <worldbody>
7
+ <site name="manipulator_locate" pos="0.3 1. 0.71" euler="0 0 3.1416"/>
8
+ <body name="coffeecup_white" pos="-0.15 1.03 0.700422" quat="0.707 0 0 -0.707">
9
+ <joint type="free" frictionloss="0.00005"/>
10
+ <include file="../object/coffeecup_white.xml"/>
11
+ </body>
12
+ <body name="plate_white" pos="-0.0667474 0.825 0.7009">
13
+ <joint type="free" frictionloss="0.00005"/>
14
+ <include file="../object/plate_white.xml"/>
15
+ </body>
16
+ <body name="cup_lid" pos="0. 1.03 0.700422">
17
+ <joint type="free" frictionloss="0.00005"/>
18
+ <include file="../object/cup_lid.xml"/>
19
+ </body>
20
+ </worldbody>
21
+ <include file="../scene/qz_lab3.xml"/>
22
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/open_drawer.xml ADDED
@@ -0,0 +1,7 @@
 
 
 
 
 
 
 
 
1
+ <mujoco model="open_drawer">
2
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
3
+ <worldbody>
4
+ <site name="manipulator_locate" pos="0.3 1. 0.71" euler="0 0 3.1416"/>
5
+ </worldbody>
6
+ <include file="../scene/qz_lab3.xml"/>
7
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/peg_in_hole.xml ADDED
@@ -0,0 +1,20 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="peg_in_hole">
2
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
3
+ <visual>
4
+ <map force="0.05"/>
5
+ <scale forcewidth="0.01"/>
6
+ </visual>
7
+ <worldbody>
8
+ <camera name="eye_side" pos="0.646 -0.342 1.126" xyaxes="0.716 0.698 0.000 -0.290 0.298 0.910"/>
9
+ <site name="manipulator_locate" pos="0 0 0.78" euler="0 0 0"/>
10
+ <body name="hole" pos="0.3 0 .79">
11
+ <replicate count="4" euler="0 0 1.5708">
12
+ <geom type="box" pos="0.04 -0.05 0.01" size=".05 .04 .0001" solimp="0.995 0.999 0.001" solref="0.001 1" rgba="0.3 0.3 0.7 1"/>
13
+ </replicate>
14
+ <replicate count="4" euler="0 0 1.5708">
15
+ <geom type="box" pos="0.04 -0.05 0" size=".05 .04 .01" solimp="0.995 0.999 0.001" solref="0.001 1" rgba="0. 0. 0. 1"/>
16
+ </replicate>
17
+ </body>
18
+ </worldbody>
19
+ <include file="../scene/skybox.xml"/>
20
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/pick_jujube.xml ADDED
@@ -0,0 +1,14 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="pick_jujube">
2
+ <include file="../object/coffeecup_dependencies.xml"/>
3
+ <include file="../object/plate_white_dependencies.xml"/>
4
+ <include file="../object/jujube_dependencies.xml"/>
5
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
6
+ <worldbody>
7
+ <site name="manipulator_locate" pos="0.3 1. 0.71" euler="0 0 3.1416"/>
8
+ <body name="jujube" pos="0 0.92 0.69928" euler="0 0 1.5708">
9
+ <joint type="free" frictionloss="0.00005"/>
10
+ <include file="../object/jujube.xml"/>
11
+ </body>
12
+ </worldbody>
13
+ <include file="../scene/qz_lab3.xml"/>
14
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_block.xml ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="place_block">
2
+ <include file="../object/bowl_dependencies.xml"/>
3
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
4
+ <worldbody>
5
+ <site name="manipulator_locate" pos="0.3 1. 0.71" euler="0 0 3.1416"/>
6
+ <body name="block_green" pos="0 0.85 0.7145">
7
+ <joint type="free" frictionloss="0.00001"/>
8
+ <inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/>
9
+ <geom rgba="0.21 0.36 0.21 1" size="0.0145 0.0145 0.0145" type="box" class="obj_collision" group="1"/>
10
+ </body>
11
+ <body name="bowl_pink" pos="0 1.03 0.6988">
12
+ <joint type="free" frictionloss="0.00001"/>
13
+ <include file="../object/bowl_pink.xml"/>
14
+ </body>
15
+ </worldbody>
16
+ <include file="../scene/qz_lab3.xml"/>
17
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_coffeecup.xml ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="place_coffeecup">
2
+ <include file="../object/coffeecup_dependencies.xml"/>
3
+ <include file="../object/plate_white_dependencies.xml"/>
4
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
5
+ <worldbody>
6
+ <site name="manipulator_locate" pos="0.3 1. 0.71" euler="0 0 3.1416"/>
7
+ <body name="coffeecup_white" pos="-0.2 1.03 0.700422" quat="0.707 0 0 -0.707">
8
+ <joint type="free" frictionloss="0.00005"/>
9
+ <include file="../object/coffeecup_white.xml"/>
10
+ </body>
11
+ <body name="plate_white" pos="-0.0667474 0.825 0.714159">
12
+ <joint type="free" frictionloss="0.00005"/>
13
+ <include file="../object/plate_white.xml"/>
14
+ </body>
15
+ </worldbody>
16
+ <include file="../scene/qz_lab3.xml"/>
17
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_jujube.xml ADDED
@@ -0,0 +1,18 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="place_jujube">
2
+ <include file="../object/coffeecup_dependencies.xml"/>
3
+ <include file="../object/plate_white_dependencies.xml"/>
4
+ <include file="../object/jujube_dependencies.xml"/>
5
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
6
+ <worldbody>
7
+ <site name="manipulator_locate" pos="0.3 1. 0.71" euler="0 0 3.1416"/>
8
+ <body name="jujube" pos="0 1.03 0.69928" euler="0 0 1.5708">
9
+ <joint type="free" frictionloss="0.00005"/>
10
+ <include file="../object/jujube.xml"/>
11
+ </body>
12
+ <body name="coffeecup_white" pos="0 0.85 0.700422" quat="0.707 0 0 -0.707">
13
+ <joint type="free" frictionloss="0.00005"/>
14
+ <include file="../object/coffeecup_white.xml"/>
15
+ </body>
16
+ </worldbody>
17
+ <include file="../scene/qz_lab3.xml"/>
18
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_jujube_coffeecup.xml ADDED
@@ -0,0 +1,27 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="place_jujube_coffeecup">
2
+ <include file="../object/coffeecup_dependencies.xml"/>
3
+ <include file="../object/plate_white_dependencies.xml"/>
4
+ <include file="../object/wood_dependencies.xml"/>
5
+ <include file="../object/jujube_dependencies.xml"/>
6
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
7
+ <worldbody>
8
+ <site name="manipulator_locate" pos="0.3 1. 0.71" euler="0 0 3.1416"/>
9
+ <body name="jujube" pos="0 1.05 0.69928" euler="0 0 1.5708">
10
+ <joint type="free" frictionloss="0.00005"/>
11
+ <include file="../object/jujube.xml"/>
12
+ </body>
13
+ <body name="coffeecup_white" pos="-0.2 1.03 0.700422" quat="0.707 0 0 -0.707">
14
+ <joint type="free" frictionloss="0.00005"/>
15
+ <include file="../object/coffeecup_white.xml"/>
16
+ </body>
17
+ <body name="plate_white" pos="-0.0667474 0.825 0.714159">
18
+ <joint type="free" frictionloss="0.00005"/>
19
+ <include file="../object/plate_white.xml"/>
20
+ </body>
21
+ <body name="wood" pos="-0.0683076 0.832 0.701954" euler="0 0 0">
22
+ <joint type="free" frictionloss="0.00005"/>
23
+ <include file="../object/wood.xml"/>
24
+ </body>
25
+ </worldbody>
26
+ <include file="../scene/qz_lab3.xml"/>
27
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/place_kiwi_fruit.xml ADDED
@@ -0,0 +1,17 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="place_kiwi_fruit">
2
+ <include file="../object/kiwi_dependencies.xml"/>
3
+ <include file="../object/flower_bowl_dependencies.xml"/>
4
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
5
+ <worldbody>
6
+ <site name="manipulator_locate" pos="0.3 1. 0.71" euler="0 0 3.1416"/>
7
+ <body name="kiwi" pos="-0.1 1.0 0.705" quat="0.995465 -0.00017601 -0.0951328 -0.000157941">
8
+ <joint type="free" frictionloss="0.00001"/>
9
+ <include file="../object/kiwi.xml"/>
10
+ </body>
11
+ <body name="flower_bowl" pos="-0.1 0.8 0.700937">
12
+ <joint type="free" frictionloss="0.00001"/>
13
+ <include file="../object/flower_bowl.xml"/>
14
+ </body>
15
+ </worldbody>
16
+ <include file="../scene/qz_lab3.xml"/>
17
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/push_mouse.xml ADDED
@@ -0,0 +1,16 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="push_mouse">
2
+ <include file="../object/mouse_dependencies.xml"/>
3
+ <include file="../object/mouse_pad_dependencies.xml"/>
4
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
5
+ <worldbody>
6
+ <site name="manipulator_locate" pos="0.3 1. 0.71" euler="0 0 3.1416"/>
7
+ <body name="mouse_pad" pos="-0.15 0.93 0.700422">
8
+ <include file="../object/mouse_pad.xml"/>
9
+ </body>
10
+ <body name="mouse" pos="0.1 0.93 0.700422" euler="0 0 -1.57">
11
+ <joint type="free" frictionloss="0.00001"/>
12
+ <include file="../object/mouse.xml"/>
13
+ </body>
14
+ </worldbody>
15
+ <include file="../scene/qz_lab3.xml"/>
16
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/task_environments/stack_block.xml ADDED
@@ -0,0 +1,22 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="stack_block">
2
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
3
+ <worldbody>
4
+ <site name="manipulator_locate" pos="0.3 1. 0.71" euler="0 0 3.1416"/>
5
+ <body name="block_green" pos="0 0.90 0.7145">
6
+ <joint type="free" frictionloss="0.00001"/>
7
+ <inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/>
8
+ <geom rgba="0.21 0.70 0.21 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.0145 0.0145 0.0145" type="box"/>
9
+ </body>
10
+ <body name="block_red" pos="0.03 1.1 0.7145">
11
+ <joint type="free" frictionloss="0.00001"/>
12
+ <inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/>
13
+ <geom rgba="0.70 0.21 0.21 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.0145 0.0145 0.0145" type="box"/>
14
+ </body>
15
+ <body name="block_blue" pos="0.06 1.0 0.7145">
16
+ <joint type="free" frictionloss="0.00001"/>
17
+ <inertial pos="0 0 0" mass="0.001" diaginertia="1e-7 1e-7 1e-7"/>
18
+ <geom rgba="0.21 0.21 0.70 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" pos="0 0 0" size="0.0145 0.0145 0.0145" type="box"/>
19
+ </body>
20
+ </worldbody>
21
+ <include file="../scene/qz_lab3.xml"/>
22
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/cabinet_door_open.xml ADDED
@@ -0,0 +1,37 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="cabinet_door_open">
2
+
3
+ <include file="../scene.xml"/>
4
+ <include file="../mobile_chassis/mmk2/mmk2_options.xml"/>
5
+ <include file="../mobile_chassis/mmk2/mmk2_dependencies.xml"/>
6
+
7
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
8
+
9
+ <worldbody>
10
+ <body name='mmk2' pos="0 0 0">
11
+ <joint type="free" frictionloss="0.0001" />
12
+ <include file="../mobile_chassis/mmk2/mmk2.xml"/>
13
+ </body>
14
+
15
+ <body name="toy_cabinet" pos="0.8 0 0.76">
16
+ <include file="../object/toy_cabinet.xml"/>
17
+ </body>
18
+
19
+ <!-- ======= TABLE write ======= -->
20
+ <body name="table-a" pos="0.65 0 0">
21
+ <geom size="0.35 0.6 0.01" pos="0. 0. 0.75" type="box" rgba="0.8 0.8 0.8 0.5" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
22
+ <geom size="0.02 0.02 0.375" pos=" 0.3 0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
23
+ <geom size="0.02 0.02 0.375" pos="-0.3 0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
24
+ <geom size="0.02 0.02 0.375" pos=" 0.3 -0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
25
+ <geom size="0.02 0.02 0.375" pos="-0.3 -0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
26
+ </body>
27
+ </worldbody>
28
+
29
+ <actuator>
30
+ <include file="../mobile_chassis/mmk2/mmk2_control.xml"/>
31
+ </actuator>
32
+
33
+ <sensor>
34
+ <include file="../mobile_chassis/mmk2/mmk2_sensor.xml"/>
35
+ </sensor>
36
+
37
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/coffeecup_plate.xml ADDED
@@ -0,0 +1,63 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="coffeecup_plate_mmk2">
2
+
3
+ <include file="../scene.xml"/>
4
+ <include file="../mobile_chassis/mmk2/mmk2_options.xml"/>
5
+ <include file="../mobile_chassis/mmk2/mmk2_dependencies.xml"/>
6
+
7
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
8
+
9
+ <include file="../object/coffeecup_dependencies.xml"/>
10
+ <include file="../object/plate_white_dependencies.xml"/>
11
+ <include file="../object/wood_dependencies.xml"/>
12
+ <include file="../object/cup_lid_dependencies.xml"/>
13
+
14
+ <worldbody>
15
+ <body name='mmk2' pos="0 0 0">
16
+ <joint type="free" frictionloss="0.0001" />
17
+ <include file="../mobile_chassis/mmk2/mmk2.xml"/>
18
+ </body>
19
+
20
+ <!-- ======= coffeecup_white ======= -->
21
+ <body name="coffeecup_white" pos="0.43 0.2 0.76">
22
+ <joint type="free" frictionloss="0.00005" />
23
+ <include file="../object/coffeecup_white.xml"/>
24
+ </body>
25
+
26
+ <!-- ======= plate_white ======= -->
27
+ <body name="plate_white" pos="0.45 0 0.775">
28
+ <joint type="free" frictionloss="0.00005" />
29
+ <include file="../object/plate_white.xml"/>
30
+ </body>
31
+
32
+ <!-- ======= wood ======= -->
33
+ <body name="wood" pos="0.45 0 0.762" euler="0 0 0">
34
+ <joint type="free" frictionloss="0.00005" />
35
+ <include file="../object/wood.xml"/>
36
+ </body>
37
+
38
+ <!-- ======= cup_lid ======= -->
39
+ <body name="cup_lid" pos="0.45 -0.2 0.761" euler="0 0 0">
40
+ <joint type="free" frictionloss="0.00005" />
41
+ <include file="../object/cup_lid.xml"/>
42
+ </body>
43
+
44
+ <!-- ======= TABLE write ======= -->
45
+ <body name="table-a" pos="0.65 0 0">
46
+ <geom size="0.35 0.6 0.01" pos="0. 0. 0.75" type="box" rgba="0.8 0.8 0.8 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
47
+ <geom size="0.02 0.02 0.375" pos=" 0.3 0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
48
+ <geom size="0.02 0.02 0.375" pos="-0.3 0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
49
+ <geom size="0.02 0.02 0.375" pos=" 0.3 -0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
50
+ <geom size="0.02 0.02 0.375" pos="-0.3 -0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
51
+ </body>
52
+
53
+ </worldbody>
54
+
55
+ <actuator>
56
+ <include file="../mobile_chassis/mmk2/mmk2_control.xml"/>
57
+ </actuator>
58
+
59
+ <sensor>
60
+ <include file="../mobile_chassis/mmk2/mmk2_sensor.xml"/>
61
+ </sensor>
62
+
63
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/drawer_open.xml ADDED
@@ -0,0 +1,38 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="plate_coffecup_mmk2">
2
+
3
+ <include file="../scene.xml"/>
4
+ <include file="../mobile_chassis/mmk2/mmk2_options.xml"/>
5
+ <include file="../mobile_chassis/mmk2/mmk2_dependencies.xml"/>
6
+
7
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
8
+
9
+ <worldbody>
10
+ <body name='mmk2' pos="0 0 0">
11
+ <joint type="free" frictionloss="0.0001" />
12
+ <include file="../mobile_chassis/mmk2/mmk2.xml"/>
13
+ </body>
14
+
15
+ <body name="toy_cabinet" pos="0.8 0 0.78">
16
+ <include file="../object/toy_cabinet.xml"/>
17
+ </body>
18
+
19
+ <!-- ======= TABLE write ======= -->
20
+ <body name="table-a" pos="0.65 0 0">
21
+ <geom size="0.35 0.6 0.01" pos="0. 0. 0.75" type="box" rgba="0.8 0.8 0.8 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
22
+ <geom size="0.02 0.02 0.375" pos=" 0.3 0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
23
+ <geom size="0.02 0.02 0.375" pos="-0.3 0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
24
+ <geom size="0.02 0.02 0.375" pos=" 0.3 -0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
25
+ <geom size="0.02 0.02 0.375" pos="-0.3 -0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
26
+ </body>
27
+
28
+ </worldbody>
29
+
30
+ <actuator>
31
+ <include file="../mobile_chassis/mmk2/mmk2_control.xml"/>
32
+ </actuator>
33
+
34
+ <sensor>
35
+ <include file="../mobile_chassis/mmk2/mmk2_sensor.xml"/>
36
+ </sensor>
37
+
38
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/jujube_pick.xml ADDED
@@ -0,0 +1,139 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="jujube_pick_mmk2">
2
+
3
+ <include file="../scene.xml"/>
4
+ <include file="../mobile_chassis/mmk2/mmk2_options.xml"/>
5
+ <include file="../mobile_chassis/mmk2/mmk2_dependencies.xml"/>
6
+
7
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
8
+
9
+ <include file="../object/bowl_dependencies.xml"/>
10
+ <include file="../object/plate_white_dependencies.xml"/>
11
+ <include file="../object/wood_dependencies.xml"/>
12
+ <include file="../object/jujube_dependencies.xml"/>
13
+
14
+ <worldbody>
15
+ <body name='mmk2' pos="0 0 0" euler="0 0 0">
16
+ <joint type="free" frictionloss="0.0001" />
17
+ <include file="../mobile_chassis/mmk2/mmk2.xml"/>
18
+ </body>
19
+
20
+ <!-- ======= bowl_green ======= -->
21
+ <body name="bowl_yellow" pos="0.92 -1.17 0.8">
22
+ <joint type="free" frictionloss="0.0002"/>
23
+ <include file="../object/bowl_yellow.xml"/>
24
+ </body>
25
+
26
+ <!-- ======= wood ======= -->
27
+ <body name="wood" pos="0.72 -1.035 0.8" euler="0 0 0">
28
+ <joint type="free" frictionloss="0.0002"/>
29
+ <include file="../object/wood.xml"/>
30
+ </body>
31
+
32
+ <!-- ======= jujube ======= -->
33
+ <body name="jujube" pos="0.54 -1.1 0.8" euler="0 0 1.57">
34
+ <joint type="free" frictionloss="0.0002"/>
35
+ <include file="../object/jujube.xml"/>
36
+ </body>
37
+
38
+ <!-- 场景 -->
39
+ <body name="table_60_120" pos="0.75 -1.21 0">
40
+ <geom size="0.3 0.6 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
41
+ <geom size="0.02 0.02 0.37" pos=" 0.55 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
42
+ <geom size="0.02 0.02 0.37" pos=" 0.55 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
43
+ <geom size="0.02 0.02 0.37" pos="-0.55 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
44
+ <geom size="0.02 0.02 0.37" pos="-0.55 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
45
+ </body>
46
+
47
+ <body name="table_60_180" pos="-1. -1.21 0">
48
+ <geom size="0.3 0.9 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
49
+ <geom size="0.02 0.02 0.37" pos=" 0.85 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
50
+ <geom size="0.02 0.02 0.37" pos=" 0.85 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
51
+ <geom size="0.02 0.02 0.37" pos=" 0.00 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
52
+ <geom size="0.02 0.02 0.37" pos=" 0.00 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
53
+ <geom size="0.02 0.02 0.37" pos="-0.85 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
54
+ <geom size="0.02 0.02 0.37" pos="-0.85 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
55
+ </body>
56
+
57
+ <body name="table_80_160" pos="-1.2 -0.11 0" euler="0 0 -1.5708">
58
+ <geom size="0.4 0.8 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
59
+ <geom size="0.02 0.02 0.37" pos=" 0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
60
+ <geom size="0.02 0.02 0.37" pos=" 0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
61
+ <geom size="0.02 0.02 0.37" pos="-0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
62
+ <geom size="0.02 0.02 0.37" pos="-0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
63
+ </body>
64
+
65
+ <body name="displayer" pos="-1.1 1.1 0">
66
+ <geom size="0.7 0.015 0.4" pos="0 0 1.4" type="box" rgba=".1 .1 .1 1"/>
67
+ </body>
68
+
69
+ <body name="front_wall" pos="1.415 -0.03 0">
70
+ <geom size="1.0 0.44 0.015" pos="0 0.0 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
71
+ <geom size="1.0 0.44 0.015" pos="0 0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
72
+ <geom size="1.0 0.44 0.015" pos="0 -0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
73
+ <geom size="1.0 0.44 0.015" pos="0 -1.8 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
74
+ </body>
75
+
76
+ <body name="left_wall" pos="-0.03 1.415 0" euler="0 0 -1.5708">
77
+ <geom size="1.0 0.44 0.015" pos="0 0.0 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
78
+ <geom size="1.0 0.44 0.015" pos="0 0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
79
+ <geom size="1.0 0.44 0.015" pos="0 -0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
80
+ <geom size="1.0 0.44 0.015" pos="0 -1.8 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
81
+ <geom size="1.0 0.44 0.015" pos="0 -2.7 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
82
+ <geom size="1.0 0.44 0.015" pos="0 -3.6 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
83
+ </body>
84
+
85
+ <!-- <body name="cabinet_1" pos="0.36 1.22 0" euler="0 0 1.5708"> -->
86
+ <body name="cabinet_1" pos="0.665 1.22 0" euler="0 0 1.5708">
87
+ <geom size="0.15 0.01 1.015" pos="0 0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
88
+ <geom size="0.15 0.01 1.015" pos="0 -0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
89
+ <geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
90
+
91
+ <geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
92
+ <geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
93
+ <geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
94
+ <geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
95
+ <geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
96
+ <geom size="0.15 0.4 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
97
+ <geom size="0.15 0.4 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
98
+ </body>
99
+
100
+ <!-- <body name="cabinet_2" pos="1.03 1.03 0" euler="0 0 0.7854"> -->
101
+ <body name="cabinet_2" pos="1.23 0.86 0" euler="0 0 0">
102
+ <geom size="0.15 0.01 1.015" pos="0 0.2 1.015" type="box" rgba="0.9 0.9 0.9 1" />
103
+ <geom size="0.15 0.01 1.015" pos="0 -0.2 1.015" type="box" rgba="0.9 0.9 0.9 1" />
104
+ <geom size="0.01 0.20 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
105
+
106
+ <geom size="0.15 0.2 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
107
+ <geom size="0.15 0.2 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
108
+ <geom size="0.15 0.2 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
109
+ <geom size="0.15 0.2 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
110
+ <geom size="0.15 0.2 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
111
+ <geom size="0.15 0.2 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
112
+ <geom size="0.15 0.2 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
113
+ </body>
114
+
115
+ <!-- <body name="cabinet_3" pos="1.22 0.36 0"> -->
116
+ <body name="cabinet_3" pos="1.23 0.238 0">
117
+ <geom size="0.15 0.01 1.015" pos="0 0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
118
+ <geom size="0.15 0.01 1.015" pos="0 -0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
119
+ <geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
120
+
121
+ <geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
122
+ <geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
123
+ <geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
124
+ <geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
125
+ <geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
126
+ <geom size="0.15 0.4 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
127
+ <geom size="0.15 0.4 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
128
+ </body>
129
+ </worldbody>
130
+
131
+ <actuator>
132
+ <include file="../mobile_chassis/mmk2/mmk2_control.xml"/>
133
+ </actuator>
134
+
135
+ <sensor>
136
+ <include file="../mobile_chassis/mmk2/mmk2_sensor.xml"/>
137
+ </sensor>
138
+
139
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/kiwi_place.xml ADDED
@@ -0,0 +1,139 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="pick_jujube_mmk2">
2
+
3
+ <include file="../scene.xml"/>
4
+ <include file="../mobile_chassis/mmk2/mmk2_options.xml"/>
5
+ <include file="../mobile_chassis/mmk2/mmk2_dependencies.xml"/>
6
+
7
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
8
+
9
+ <include file="../object/bowl_dependencies.xml"/>
10
+ <include file="../object/kiwi_dependencies.xml"/>
11
+ <include file="../object/flower_bowl_dependencies.xml"/>
12
+ <include file="../object/wood_dependencies.xml"/>
13
+
14
+ <worldbody>
15
+ <body name='mmk2' pos="0.25 0 0" euler="0 0 -1.5708">
16
+ <joint type="free" frictionloss="0.0001" />
17
+ <include file="../mobile_chassis/mmk2/mmk2.xml"/>
18
+ </body>
19
+
20
+ <!-- ======= kiwi ======= -->
21
+ <body name="kiwi" pos="0.1 -0.65 0.748046" euler="0 0 0">
22
+ <joint type="free" frictionloss="0.00005" />
23
+ <include file="../object/kiwi.xml"/>
24
+ </body>
25
+
26
+ <!-- ======= flower_bowl ======= -->
27
+ <body name="flower_bowl" pos="0.5 -0.65 0.750937">
28
+ <joint type="free" frictionloss="0.00005" />
29
+ <include file="../object/flower_bowl.xml"/>
30
+ </body>
31
+
32
+ <!-- ======= wood ======= -->
33
+ <body name="wood" pos="0.3 -0.59 0.751955" euler="0 0 0">
34
+ <joint type="free" frictionloss="0.00005" />
35
+ <include file="../object/wood.xml"/>
36
+ </body>
37
+
38
+ <!-- 场景 -->
39
+ <!-- OPs: static scene -->
40
+ <body name="left_table" pos="0.205 -0.85 0">
41
+ <geom size="0.4 0.8 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
42
+ <geom size="0.02 0.02 0.37" pos=" 0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
43
+ <geom size="0.02 0.02 0.37" pos=" 0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
44
+ <geom size="0.02 0.02 0.37" pos="-0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
45
+ <geom size="0.02 0.02 0.37" pos="-0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
46
+ </body>
47
+
48
+ <body name="right_table" pos="-1 -0.45 0" euler="0 0 -1.5708">
49
+ <geom size="0.4 0.8 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
50
+ <geom size="0.02 0.02 0.37" pos=" 0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
51
+ <geom size="0.02 0.02 0.37" pos=" 0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
52
+ <geom size="0.02 0.02 0.37" pos="-0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
53
+ <geom size="0.02 0.02 0.37" pos="-0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
54
+ </body>
55
+
56
+ <body name="left_wall" pos="0 1.55 0" euler="0 0 -1.5708">
57
+ <geom size="1.0 0.44 0.015" pos="0 1.1 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
58
+ <geom size="1.0 0.44 0.015" pos="0 -0.05 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
59
+ <geom size="1.0 0.44 0.015" pos="0 -0.95 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
60
+ </body>
61
+
62
+ <body name="back_wall" pos="-1.4 0.2 0">
63
+ <geom size="1.0 0.44 0.015" pos="0 0.0 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
64
+ <geom size="1.0 0.44 0.015" pos="0 0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
65
+ <geom size="1.0 0.49 0.015" pos="0 -0.955 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
66
+ </body>
67
+
68
+ <body name="right_wall" pos="0.05 -1.3 0" euler="0 0 -1.5708">
69
+ <geom size="1.0 0.49 0.015" pos="0 1. 1" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
70
+ <geom size="1.0 0.49 0.015" pos="0 0. 1" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
71
+ <geom size="1.0 0.49 0.015" pos="0 -1. 1" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
72
+ </body>
73
+
74
+ <body name="cabinet_1" pos="0.4 1.37 0" euler="0 0 1.5708">
75
+
76
+ <body pos="0.127 -0.15 1.53">
77
+ <geom type="cylinder" euler="0 -1.5708 0" size="0.018 0.001" rgba="0 0.7 0.9 1"/>
78
+ <geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="0.0002 0 0" rgba="1 1 1 0.8"/>
79
+ <geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="-0.0002 0 0" rgba="1 1 1 0.8"/>
80
+ </body>
81
+
82
+ <body pos="0.127 0.15 1.53">
83
+ <geom type="cylinder" euler="0 -1.5708 0" size="0.018 0.001" rgba="0 0.7 0.9 1"/>
84
+ <geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="0.0002 0 0" rgba="1 1 1 0.8"/>
85
+ <geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="-0.0002 0 0" rgba="1 1 1 0.8"/>
86
+ </body>
87
+
88
+ <geom size="0.15 0.01 1.015" pos="0 0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
89
+ <geom size="0.15 0.01 1.015" pos="0 -0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
90
+ <geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
91
+
92
+ <geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
93
+ <geom size="0.15 0.4 0.01" pos="0 0 0.41" type="box" rgba="0.9 0.9 0.9 1" />
94
+ <geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
95
+ <geom size="0.15 0.4 0.01" pos="0 0 1.05" type="box" rgba="0.9 0.9 0.9 1" />
96
+ <geom size="0.15 0.4 0.01" pos="0 0 1.37" type="box" rgba="0.9 0.9 0.9 1" />
97
+ <geom size="0.15 0.4 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
98
+ <geom size="0.15 0.4 0.01" pos="0 0 2.01" type="box" rgba="0.9 0.9 0.9 1" />
99
+ </body>
100
+
101
+ <body name="cabinet_2" pos="1.37 0.4 0">
102
+
103
+ <body pos="0.127 -0.15 1.53">
104
+ <geom type="cylinder" euler="0 -1.5708 0" size="0.018 0.001" rgba="0 0.7 0.9 1"/>
105
+ <geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="0.0002 0 0" rgba="1 1 1 0.8"/>
106
+ <geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="-0.0002 0 0" rgba="1 1 1 0.8"/>
107
+ </body>
108
+
109
+ <body pos="0.127 0.15 1.53">
110
+ <geom type="cylinder" euler="0 -1.5708 0" size="0.018 0.001" rgba="0 0.7 0.9 1"/>
111
+ <geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="0.0002 0 0" rgba="1 1 1 0.8"/>
112
+ <geom type="cylinder" euler="0 -1.5708 0" size="0.015 0.001" pos="-0.0002 0 0" rgba="1 1 1 0.8"/>
113
+ </body>
114
+
115
+ <geom size="0.15 0.01 1.015" pos="0 0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
116
+ <geom size="0.15 0.01 1.015" pos="0 -0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
117
+ <geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
118
+
119
+ <geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
120
+ <geom size="0.15 0.4 0.01" pos="0 0 0.41" type="box" rgba="0.9 0.9 0.9 1" />
121
+ <geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
122
+ <geom size="0.15 0.4 0.01" pos="0 0 1.05" type="box" rgba="0.9 0.9 0.9 1" />
123
+ <geom size="0.15 0.4 0.01" pos="0 0 1.37" type="box" rgba="0.9 0.9 0.9 1" />
124
+ <geom size="0.15 0.4 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
125
+ <geom size="0.15 0.4 0.01" pos="0 0 2.01" type="box" rgba="0.9 0.9 0.9 1" />
126
+ </body>
127
+
128
+
129
+ </worldbody>
130
+
131
+ <actuator>
132
+ <include file="../mobile_chassis/mmk2/mmk2_control.xml"/>
133
+ </actuator>
134
+
135
+ <sensor>
136
+ <include file="../mobile_chassis/mmk2/mmk2_sensor.xml"/>
137
+ </sensor>
138
+
139
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/pan_pick.xml ADDED
@@ -0,0 +1,132 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="pick_jujube_mmk2">
2
+
3
+ <include file="../scene.xml"/>
4
+ <include file="../mobile_chassis/mmk2/mmk2_options.xml"/>
5
+ <include file="../mobile_chassis/mmk2/mmk2_dependencies.xml"/>
6
+
7
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
8
+
9
+ <include file="../object/box_dependencies.xml"/>
10
+ <include file="../object/jujube_dependencies.xml"/>
11
+
12
+ <worldbody>
13
+ <body name='mmk2' pos="0 0 0" euler="0 0 0">
14
+ <joint type="free" frictionloss="0.0001" />
15
+ <include file="../mobile_chassis/mmk2/mmk2.xml"/>
16
+ </body>
17
+
18
+ <!-- ======= pan ======= -->
19
+ <body name="pan" pos="0.525 -1.0 0.92" euler="1.57079632679 0 0">
20
+ <joint type="free" frictionloss="0.00005" />
21
+ <include file="../object/pan.xml"/>
22
+ </body>
23
+
24
+ <!-- ======= box ======= -->
25
+ <body name="box" pos="0.5 -1.0 0.75" euler="0 0 0">
26
+ <joint type="free" frictionloss="0.00005" />
27
+ <include file="../object/box.xml"/>
28
+ </body>
29
+
30
+ <!-- 场景 -->
31
+ <body name="table_60_120" pos="0.75 -1.21 0">
32
+ <geom size="0.3 0.6 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 1 1" rgba="1 1 1 1"/>
33
+ <geom size="0.02 0.02 0.37" pos=" 0.55 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
34
+ <geom size="0.02 0.02 0.37" pos=" 0.55 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
35
+ <geom size="0.02 0.02 0.37" pos="-0.55 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
36
+ <geom size="0.02 0.02 0.37" pos="-0.55 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
37
+ </body>
38
+
39
+ <body name="table_60_180" pos="-1. -1.21 0">
40
+ <geom size="0.3 0.9 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 1 1" rgba="1 1 1 1"/>
41
+ <geom size="0.02 0.02 0.37" pos=" 0.85 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
42
+ <geom size="0.02 0.02 0.37" pos=" 0.85 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
43
+ <geom size="0.02 0.02 0.37" pos=" 0.00 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
44
+ <geom size="0.02 0.02 0.37" pos=" 0.00 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
45
+ <geom size="0.02 0.02 0.37" pos="-0.85 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
46
+ <geom size="0.02 0.02 0.37" pos="-0.85 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
47
+ </body>
48
+
49
+ <body name="table_80_160" pos="-1.2 -0.11 0" euler="0 0 -1.5708">
50
+ <geom size="0.4 0.8 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 1 1" rgba="1 1 1 1"/>
51
+ <geom size="0.02 0.02 0.37" pos=" 0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
52
+ <geom size="0.02 0.02 0.37" pos=" 0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
53
+ <geom size="0.02 0.02 0.37" pos="-0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
54
+ <geom size="0.02 0.02 0.37" pos="-0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
55
+ </body>
56
+
57
+ <body name="displayer" pos="-1.1 1.1 0">
58
+ <geom size="0.7 0.015 0.4" pos="0 0 1.4" type="box" rgba=".1 .1 .1 1"/>
59
+ </body>
60
+
61
+ <body name="front_wall" pos="1.415 -0.03 0">
62
+ <geom size="1.0 0.44 0.015" pos="0 0.0 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
63
+ <geom size="1.0 0.44 0.015" pos="0 0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
64
+ <geom size="1.0 0.44 0.015" pos="0 -0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
65
+ <geom size="1.0 0.44 0.015" pos="0 -1.8 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
66
+ </body>
67
+
68
+ <body name="left_wall" pos="-0.03 1.415 0" euler="0 0 -1.5708">
69
+ <geom size="1.0 0.44 0.015" pos="0 0.0 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
70
+ <geom size="1.0 0.44 0.015" pos="0 0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
71
+ <geom size="1.0 0.44 0.015" pos="0 -0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
72
+ <geom size="1.0 0.44 0.015" pos="0 -1.8 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
73
+ <geom size="1.0 0.44 0.015" pos="0 -2.7 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
74
+ <geom size="1.0 0.44 0.015" pos="0 -3.6 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
75
+ </body>
76
+
77
+ <!-- <body name="cabinet_1" pos="0.36 1.22 0" euler="0 0 1.5708"> -->
78
+ <body name="cabinet_1" pos="0.665 1.22 0" euler="0 0 1.5708">
79
+ <geom size="0.15 0.01 1.015" pos="0 0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
80
+ <geom size="0.15 0.01 1.015" pos="0 -0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
81
+ <geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
82
+
83
+ <geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
84
+ <geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
85
+ <geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
86
+ <geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
87
+ <geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
88
+ <geom size="0.15 0.4 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
89
+ <geom size="0.15 0.4 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
90
+ </body>
91
+
92
+ <!-- <body name="cabinet_2" pos="1.03 1.03 0" euler="0 0 0.7854"> -->
93
+ <body name="cabinet_2" pos="1.23 0.86 0" euler="0 0 0">
94
+ <geom size="0.15 0.01 1.015" pos="0 0.2 1.015" type="box" rgba="0.9 0.9 0.9 1" />
95
+ <geom size="0.15 0.01 1.015" pos="0 -0.2 1.015" type="box" rgba="0.9 0.9 0.9 1" />
96
+ <geom size="0.01 0.20 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
97
+
98
+ <geom size="0.15 0.2 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
99
+ <geom size="0.15 0.2 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
100
+ <geom size="0.15 0.2 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
101
+ <geom size="0.15 0.2 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
102
+ <geom size="0.15 0.2 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
103
+ <geom size="0.15 0.2 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
104
+ <geom size="0.15 0.2 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
105
+ </body>
106
+
107
+ <!-- <body name="cabinet_3" pos="1.22 0.36 0"> -->
108
+ <body name="cabinet_3" pos="1.23 0.238 0">
109
+ <geom size="0.15 0.01 1.015" pos="0 0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
110
+ <geom size="0.15 0.01 1.015" pos="0 -0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
111
+ <geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
112
+
113
+ <geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
114
+ <geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
115
+ <geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
116
+ <geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
117
+ <geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
118
+ <geom size="0.15 0.4 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
119
+ <geom size="0.15 0.4 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
120
+ </body>
121
+
122
+ </worldbody>
123
+
124
+ <actuator>
125
+ <include file="../mobile_chassis/mmk2/mmk2_control.xml"/>
126
+ </actuator>
127
+
128
+ <sensor>
129
+ <include file="../mobile_chassis/mmk2/mmk2_sensor.xml"/>
130
+ </sensor>
131
+
132
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/pick_box.xml ADDED
@@ -0,0 +1,124 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="pick_jujube_mmk2">
2
+
3
+ <include file="../scene.xml"/>
4
+ <include file="../mobile_chassis/mmk2/mmk2_options.xml"/>
5
+ <include file="../mobile_chassis/mmk2/mmk2_dependencies.xml"/>
6
+
7
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
8
+
9
+ <include file="../object/box_dependencies.xml"/>
10
+
11
+ <worldbody>
12
+ <body name='mmk2' pos="0 0 0" euler="0 0 0">
13
+ <joint type="free" frictionloss="0.0001" />
14
+ <include file="../mobile_chassis/mmk2/mmk2.xml"/>
15
+ </body>
16
+
17
+ <!-- ======= box ======= -->
18
+ <body name="box" pos="1.2 0.25 0.8" euler="0 0 -1.57">
19
+ <joint type="free" frictionloss="0.00005" />
20
+ <include file="../object/box.xml"/>
21
+ </body>
22
+
23
+ <!-- 场景 -->
24
+ <body name="table_60_120" pos="0.75 -1.21 0">
25
+ <geom size="0.3 0.6 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
26
+ <geom size="0.02 0.02 0.37" pos=" 0.55 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
27
+ <geom size="0.02 0.02 0.37" pos=" 0.55 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
28
+ <geom size="0.02 0.02 0.37" pos="-0.55 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
29
+ <geom size="0.02 0.02 0.37" pos="-0.55 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
30
+ </body>
31
+
32
+ <body name="table_60_180" pos="-1. -1.21 0">
33
+ <geom size="0.3 0.9 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
34
+ <geom size="0.02 0.02 0.37" pos=" 0.85 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
35
+ <geom size="0.02 0.02 0.37" pos=" 0.85 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
36
+ <geom size="0.02 0.02 0.37" pos=" 0.00 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
37
+ <geom size="0.02 0.02 0.37" pos=" 0.00 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
38
+ <geom size="0.02 0.02 0.37" pos="-0.85 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
39
+ <geom size="0.02 0.02 0.37" pos="-0.85 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
40
+ </body>
41
+
42
+ <body name="table_80_160" pos="-1.2 -0.11 0" euler="0 0 -1.5708">
43
+ <geom size="0.4 0.8 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
44
+ <geom size="0.02 0.02 0.37" pos=" 0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
45
+ <geom size="0.02 0.02 0.37" pos=" 0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
46
+ <geom size="0.02 0.02 0.37" pos="-0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
47
+ <geom size="0.02 0.02 0.37" pos="-0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
48
+ </body>
49
+
50
+ <body name="displayer" pos="-1.1 1.1 0">
51
+ <geom size="0.7 0.015 0.4" pos="0 0 1.4" type="box" rgba=".1 .1 .1 1"/>
52
+ </body>
53
+
54
+ <body name="front_wall" pos="1.415 -0.03 0">
55
+ <geom size="1.0 0.44 0.015" pos="0 0.0 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
56
+ <geom size="1.0 0.44 0.015" pos="0 0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
57
+ <geom size="1.0 0.44 0.015" pos="0 -0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
58
+ <geom size="1.0 0.44 0.015" pos="0 -1.8 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
59
+ </body>
60
+
61
+ <body name="left_wall" pos="-0.03 1.415 0" euler="0 0 -1.5708">
62
+ <geom size="1.0 0.44 0.015" pos="0 0.0 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
63
+ <geom size="1.0 0.44 0.015" pos="0 0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
64
+ <geom size="1.0 0.44 0.015" pos="0 -0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
65
+ <geom size="1.0 0.44 0.015" pos="0 -1.8 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
66
+ <geom size="1.0 0.44 0.015" pos="0 -2.7 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
67
+ <geom size="1.0 0.44 0.015" pos="0 -3.6 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
68
+ </body>
69
+
70
+ <!-- <body name="cabinet_1" pos="0.36 1.22 0" euler="0 0 1.5708"> -->
71
+ <body name="cabinet_1" pos="0.665 1.22 0" euler="0 0 1.5708">
72
+ <geom size="0.15 0.01 1.015" pos="0 0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
73
+ <geom size="0.15 0.01 1.015" pos="0 -0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
74
+ <geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
75
+
76
+ <geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
77
+ <geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
78
+ <geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
79
+ <geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
80
+ <geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
81
+ <geom size="0.15 0.4 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
82
+ <geom size="0.15 0.4 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
83
+ </body>
84
+
85
+ <!-- <body name="cabinet_2" pos="1.03 1.03 0" euler="0 0 0.7854"> -->
86
+ <body name="cabinet_2" pos="1.23 0.86 0" euler="0 0 0">
87
+ <geom size="0.15 0.01 1.015" pos="0 0.2 1.015" type="box" rgba="0.9 0.9 0.9 1" />
88
+ <geom size="0.15 0.01 1.015" pos="0 -0.2 1.015" type="box" rgba="0.9 0.9 0.9 1" />
89
+ <geom size="0.01 0.20 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
90
+
91
+ <geom size="0.15 0.2 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
92
+ <geom size="0.15 0.2 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
93
+ <geom size="0.15 0.2 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
94
+ <geom size="0.15 0.2 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
95
+ <geom size="0.15 0.2 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
96
+ <geom size="0.15 0.2 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
97
+ <geom size="0.15 0.2 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
98
+ </body>
99
+
100
+ <!-- <body name="cabinet_3" pos="1.22 0.36 0"> -->
101
+ <body name="cabinet_3" pos="1.23 0.238 0">
102
+ <geom size="0.15 0.01 1.015" pos="0 0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
103
+ <geom size="0.15 0.01 1.015" pos="0 -0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
104
+ <geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
105
+
106
+ <geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
107
+ <geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
108
+ <geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
109
+ <geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
110
+ <geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
111
+ <geom size="0.15 0.4 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
112
+ <geom size="0.15 0.4 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
113
+ </body>
114
+ </worldbody>
115
+
116
+ <actuator>
117
+ <include file="../mobile_chassis/mmk2/mmk2_control.xml"/>
118
+ </actuator>
119
+
120
+ <sensor>
121
+ <include file="../mobile_chassis/mmk2/mmk2_sensor.xml"/>
122
+ </sensor>
123
+
124
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/pick_kiwi.xml ADDED
@@ -0,0 +1,131 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="pick_kiwi">
2
+
3
+ <include file="../scene.xml"/>
4
+ <include file="../mobile_chassis/mmk2/mmk2_options.xml"/>
5
+ <include file="../mobile_chassis/mmk2/mmk2_dependencies.xml"/>
6
+
7
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
8
+
9
+ <include file="../object/plate_white_dependencies.xml"/>
10
+ <include file="../object/kiwi_dependencies.xml"/>
11
+
12
+ <worldbody>
13
+ <body name='mmk2' pos="0.75 -0.5 0" euler="0 0 -1.57">
14
+ <joint type="free" frictionloss="0.0001" />
15
+ <include file="../mobile_chassis/mmk2/mmk2.xml"/>
16
+ </body>
17
+
18
+ <!-- ======= plate_white ======= -->
19
+ <body name="plate_white" pos="0.72 -1.035 0.8" euler="0 0 0">
20
+ <joint type="free" frictionloss="0.00005" />
21
+ <include file="../object/plate_white.xml"/>
22
+ </body>
23
+
24
+ <!-- ======= jujube ======= -->
25
+ <body name="kiwi" pos="0.54 -1.1 0.8" euler="0 0 0">
26
+ <joint type="free" frictionloss="0.0002"/>
27
+ <include file="../object/kiwi.xml"/>
28
+ </body>
29
+
30
+ <!-- 场景 -->
31
+ <body name="table_60_120" pos="0.75 -1.21 0">
32
+ <geom size="0.3 0.6 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
33
+ <geom size="0.02 0.02 0.37" pos=" 0.55 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
34
+ <geom size="0.02 0.02 0.37" pos=" 0.55 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
35
+ <geom size="0.02 0.02 0.37" pos="-0.55 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
36
+ <geom size="0.02 0.02 0.37" pos="-0.55 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
37
+ </body>
38
+
39
+ <body name="table_60_180" pos="-1. -1.21 0">
40
+ <geom size="0.3 0.9 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
41
+ <geom size="0.02 0.02 0.37" pos=" 0.85 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
42
+ <geom size="0.02 0.02 0.37" pos=" 0.85 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
43
+ <geom size="0.02 0.02 0.37" pos=" 0.00 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
44
+ <geom size="0.02 0.02 0.37" pos=" 0.00 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
45
+ <geom size="0.02 0.02 0.37" pos="-0.85 0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
46
+ <geom size="0.02 0.02 0.37" pos="-0.85 -0.25 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
47
+ </body>
48
+
49
+ <body name="table_80_160" pos="-1.2 -0.11 0" euler="0 0 -1.5708">
50
+ <geom size="0.4 0.8 0.01" pos="0 0 0.74" euler="0 0 1.5708" type="box" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001" rgba="1 1 1 1"/>
51
+ <geom size="0.02 0.02 0.37" pos=" 0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
52
+ <geom size="0.02 0.02 0.37" pos=" 0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
53
+ <geom size="0.02 0.02 0.37" pos="-0.75 0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
54
+ <geom size="0.02 0.02 0.37" pos="-0.75 -0.35 0.37" type="box" contype="0" conaffinity="0" rgba="0.15 0.15 0.15 1" />
55
+ </body>
56
+
57
+ <body name="displayer" pos="-1.1 1.1 0">
58
+ <geom size="0.7 0.015 0.4" pos="0 0 1.4" type="box" rgba=".1 .1 .1 1"/>
59
+ </body>
60
+
61
+ <body name="front_wall" pos="1.415 -0.03 0">
62
+ <geom size="1.0 0.44 0.015" pos="0 0.0 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
63
+ <geom size="1.0 0.44 0.015" pos="0 0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
64
+ <geom size="1.0 0.44 0.015" pos="0 -0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
65
+ <geom size="1.0 0.44 0.015" pos="0 -1.8 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
66
+ </body>
67
+
68
+ <body name="left_wall" pos="-0.03 1.415 0" euler="0 0 -1.5708">
69
+ <geom size="1.0 0.44 0.015" pos="0 0.0 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
70
+ <geom size="1.0 0.44 0.015" pos="0 0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
71
+ <geom size="1.0 0.44 0.015" pos="0 -0.9 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
72
+ <geom size="1.0 0.44 0.015" pos="0 -1.8 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
73
+ <geom size="1.0 0.44 0.015" pos="0 -2.7 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
74
+ <geom size="1.0 0.44 0.015" pos="0 -3.6 1.0" euler="0 1.5708 0" type="box" rgba="1 1 1 1"/>
75
+ </body>
76
+
77
+ <!-- <body name="cabinet_1" pos="0.36 1.22 0" euler="0 0 1.5708"> -->
78
+ <body name="cabinet_1" pos="0.665 1.22 0" euler="0 0 1.5708">
79
+ <geom size="0.15 0.01 1.015" pos="0 0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
80
+ <geom size="0.15 0.01 1.015" pos="0 -0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
81
+ <geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
82
+
83
+ <geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
84
+ <geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
85
+ <geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
86
+ <geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
87
+ <geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
88
+ <geom size="0.15 0.4 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
89
+ <geom size="0.15 0.4 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
90
+ </body>
91
+
92
+ <!-- <body name="cabinet_2" pos="1.03 1.03 0" euler="0 0 0.7854"> -->
93
+ <body name="cabinet_2" pos="1.23 0.86 0" euler="0 0 0">
94
+ <geom size="0.15 0.01 1.015" pos="0 0.2 1.015" type="box" rgba="0.9 0.9 0.9 1" />
95
+ <geom size="0.15 0.01 1.015" pos="0 -0.2 1.015" type="box" rgba="0.9 0.9 0.9 1" />
96
+ <geom size="0.01 0.20 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
97
+
98
+ <geom size="0.15 0.2 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
99
+ <geom size="0.15 0.2 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
100
+ <geom size="0.15 0.2 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
101
+ <geom size="0.15 0.2 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
102
+ <geom size="0.15 0.2 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
103
+ <geom size="0.15 0.2 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
104
+ <geom size="0.15 0.2 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
105
+ </body>
106
+
107
+ <!-- <body name="cabinet_3" pos="1.22 0.36 0"> -->
108
+ <body name="cabinet_3" pos="1.23 0.238 0">
109
+ <geom size="0.15 0.01 1.015" pos="0 0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
110
+ <geom size="0.15 0.01 1.015" pos="0 -0.4 1.015" type="box" rgba="0.9 0.9 0.9 1" />
111
+ <geom size="0.01 0.40 1.015" pos="0.14 0.0 1.015" type="box" rgba="0.9 0.9 0.9 1" />
112
+
113
+ <geom size="0.15 0.4 0.01" pos="0 0 0.09" type="box" rgba="0.9 0.9 0.9 1" />
114
+ <geom size="0.15 0.4 0.01" pos="0 0 0.44" type="box" rgba="0.9 0.9 0.9 1" />
115
+ <geom size="0.15 0.4 0.01" pos="0 0 0.73" type="box" rgba="0.9 0.9 0.9 1" />
116
+ <geom size="0.15 0.4 0.01" pos="0 0 1.06" type="box" rgba="0.9 0.9 0.9 1" />
117
+ <geom size="0.15 0.4 0.01" pos="0 0 1.40" type="box" rgba="0.9 0.9 0.9 1" />
118
+ <geom size="0.15 0.4 0.01" pos="0 0 1.69" type="box" rgba="0.9 0.9 0.9 1" />
119
+ <geom size="0.15 0.4 0.01" pos="0 0 2.02" type="box" rgba="0.9 0.9 0.9 1" />
120
+ </body>
121
+ </worldbody>
122
+
123
+ <actuator>
124
+ <include file="../mobile_chassis/mmk2/mmk2_control.xml"/>
125
+ </actuator>
126
+
127
+ <sensor>
128
+ <include file="../mobile_chassis/mmk2/mmk2_sensor.xml"/>
129
+ </sensor>
130
+
131
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/place_spoon.xml ADDED
@@ -0,0 +1,49 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="spoon_pick_mmk2">
2
+
3
+ <include file="../scene.xml"/>
4
+ <include file="../mobile_chassis/mmk2/mmk2_options.xml"/>
5
+ <include file="../mobile_chassis/mmk2/mmk2_dependencies.xml"/>
6
+
7
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
8
+
9
+ <include file="../object/bowl_dependencies.xml"/>
10
+ <include file="../object/spoon_dependencies.xml"/>
11
+
12
+ <worldbody>
13
+ <body name='mmk2' pos="0 0 0" euler="0 0 0">
14
+ <joint type="free" frictionloss="0.0001" />
15
+ <include file="../mobile_chassis/mmk2/mmk2.xml"/>
16
+ </body>
17
+
18
+ <!-- ======= bowl ======= -->
19
+ <body name="bowl" pos="0.566151 -0.145157 0.76049" quat="0.6 0 0 0.7">
20
+ <joint type="free" frictionloss="0.0002"/>
21
+ <include file="../object/bowl_pink.xml"/>
22
+ </body>
23
+
24
+ <!-- ======= spoon ======= -->
25
+ <body name="spoon" pos=" 0.529063 0.0915262 0.760495" quat="0.6 0 0 0.7">
26
+ <joint type="free" frictionloss="0.0002"/>
27
+ <include file="../object/spoon.xml"/>
28
+ </body>
29
+
30
+ <!-- 场景 -->
31
+ <!-- ======= TABLE write ======= -->
32
+ <body name="table" pos="0.65 0 0">
33
+ <geom size="0.35 0.6 0.01" pos="0. 0. 0.75" type="box" rgba="0.8 0.8 0.8 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
34
+ <geom size="0.02 0.02 0.375" pos=" 0.3 0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
35
+ <geom size="0.02 0.02 0.375" pos="-0.3 0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
36
+ <geom size="0.02 0.02 0.375" pos=" 0.3 -0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
37
+ <geom size="0.02 0.02 0.375" pos="-0.3 -0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
38
+ </body>
39
+ </worldbody>
40
+
41
+ <actuator>
42
+ <include file="../mobile_chassis/mmk2/mmk2_control.xml"/>
43
+ </actuator>
44
+
45
+ <sensor>
46
+ <include file="../mobile_chassis/mmk2/mmk2_sensor.xml"/>
47
+ </sensor>
48
+
49
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/tasks_mmk2/pour_tea.xml ADDED
@@ -0,0 +1,48 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="pour_tea_mmk2">
2
+
3
+ <include file="../scene.xml"/>
4
+ <include file="../mobile_chassis/mmk2/mmk2_options.xml"/>
5
+ <include file="../mobile_chassis/mmk2/mmk2_dependencies.xml"/>
6
+
7
+ <compiler angle="radian" meshdir="../../meshes/" texturedir="../../meshes/"/>
8
+
9
+ <include file="../object/teapot_dependencies.xml"/>
10
+ <include file="../object/cup_dependencies.xml"/>
11
+
12
+ <worldbody>
13
+ <body name='mmk2' pos="0 0 0" euler="0 0 0">
14
+ <joint type="free" frictionloss="0.0001" />
15
+ <include file="../mobile_chassis/mmk2/mmk2.xml"/>
16
+ </body>
17
+
18
+ <!-- ======= teapot ======= -->
19
+ <body name="teapot" pos="0.566151 -0.145157 0.76049" quat="0.924804 0.00549694 0.00562185 -0.380363">
20
+ <include file="../object/teapot.xml"/>
21
+ </body>
22
+
23
+ <!-- ======= cup ======= -->
24
+ <body name="cup" pos=" 0.529063 0.0915262 0.760495" quat="0.6 0 0 0.7">
25
+ <include file="../object/cup.xml"/>
26
+ </body>
27
+
28
+ <!-- 场景 -->
29
+ <!-- ======= TABLE write ======= -->
30
+ <body name="table-a" pos="0.65 0 0">
31
+ <geom size="0.35 0.6 0.01" pos="0. 0. 0.75" type="box" rgba="0.8 0.8 0.8 1" condim="4" solimp="2 1 0.01" solref="0.01 1" friction="1 0.005 0.0001"/>
32
+ <geom size="0.02 0.02 0.375" pos=" 0.3 0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
33
+ <geom size="0.02 0.02 0.375" pos="-0.3 0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
34
+ <geom size="0.02 0.02 0.375" pos=" 0.3 -0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
35
+ <geom size="0.02 0.02 0.375" pos="-0.3 -0.55 0.375" type="box" contype="0" conaffinity="0" rgba="0.8 0.8 0.8 1" />
36
+ </body>
37
+
38
+ </worldbody>
39
+
40
+ <actuator>
41
+ <include file="../mobile_chassis/mmk2/mmk2_control.xml"/>
42
+ </actuator>
43
+
44
+ <sensor>
45
+ <include file="../mobile_chassis/mmk2/mmk2_sensor.xml"/>
46
+ </sensor>
47
+
48
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/mjcf/tok2_floor.xml ADDED
@@ -0,0 +1,39 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <mujoco model="tok2_robot">
2
+
3
+ <include file="tok2/tok2_options.xml"/>
4
+ <include file="tok2/tok2_dependencies.xml"/>
5
+
6
+ <visual>
7
+ <global offwidth="1920" offheight="1080"/>
8
+ <quality shadowsize="4096" offsamples="4"/>
9
+ <headlight diffuse='0.6 0.6 0.6' ambient='.3 .3 .3' specular='0 0 0'/>
10
+ <scale com="0.05" camera="0.06" framelength="0.5" framewidth="0.02" forcewidth="0.1" contactwidth="0.01" contactheight="0.05"/>
11
+ </visual>
12
+
13
+ <asset>
14
+ <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'/>
15
+ <material name='groundplane' texture='groundplane' texuniform='true' texrepeat='5 5' reflectance='0.2'/>
16
+ </asset>
17
+
18
+ <worldbody>
19
+ <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='-1 -1 1' dir='1 1 -1'/>
20
+ <light directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 0 1' dir='-1 1 -1'/>
21
+ <light castshadow="false" directional='true' diffuse='.3 .3 .3' specular='0.3 0.3 0.3' pos='0 1 1' dir='0 -1 -1'/>
22
+ <geom name='floor' type='plane' size='0 0 0.01' material='groundplane'/>
23
+
24
+ <body name='tok2' pos="0 0 0">
25
+ <joint type="free" frictionloss="0.0001" />
26
+ <include file="tok2/tok2.xml"/>
27
+ </body>
28
+
29
+ </worldbody>
30
+
31
+ <actuator>
32
+ <include file="tok2/tok2_control.xml"/>
33
+ </actuator>
34
+
35
+ <sensor>
36
+ <include file="tok2/tok2_sensor.xml"/>
37
+ </sensor>
38
+
39
+ </mujoco>
assets/discoverse/collections/models/discoverse_models/urdf/airbot_play_v3_gripper.urdf ADDED
@@ -0,0 +1,281 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
2
+ <robot name="airbot_play_v3_gripper">
3
+
4
+ <mujoco>
5
+ <compiler meshdir="../models/meshes/airbot_play" balanceinertia="true" discardvisual="false" />
6
+ </mujoco>
7
+
8
+ <link name="world" />
9
+ <joint name="fixed_base" type="fixed">
10
+ <origin rpy="0 0 0" xyz="0 0 0" />
11
+ <parent link="world" />
12
+ <child link="arm_base" />
13
+ </joint>
14
+
15
+ <link name="arm_base">
16
+ <inertial>
17
+ <origin xyz="-0.010729 -0.00017015 0.041712" rpy="0 0 0"/>
18
+ <mass value="0.77705"/>
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+ <joint name="joint_custom_end" type="fixed">
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+ <parent link="link6"/>
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+ </joint>
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+ </robot>
assets/discoverse/collections/models/discoverse_models/urdf/airbot_play_v3_gripper_fixed.urdf ADDED
@@ -0,0 +1,281 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ <?xml version="1.0" ?>
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+ <robot name="airbot_play_v3_gripper">
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+
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+ <compiler meshdir="../models/meshes/airbot_play" balanceinertia="true" discardvisual="false" />
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+ <link name="world" />
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+ </link>
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+ <joint name="joint2" type="revolute">
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+ </joint>
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+ <child link="link6"/>
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+ </joint>
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+ </link>
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+ <parent link="link6"/>
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+ </joint>
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+ <mesh filename="package://airbot_play_v3_gripper/meshes/right.STL"/>
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+ </geometry>
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+ </collision>
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+ <parent link="link6"/>
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+ <limit lower="-0.04" upper="0" effort="0" velocity="0"/>
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+ </joint>
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+ <link name="custom_end_link">
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+ </inertial>
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+ </link>
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+ <joint name="joint_custom_end" type="fixed">
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+ <origin xyz="0 0 0.02" rpy="0 -1.5708 0"/>
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+ <parent link="link6"/>
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+ <child link="custom_end_link"/>
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+ </joint>
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+ </robot>
assets/discoverse/collections/models/discoverse_models/urdf/mmk2_s_g2.urdf ADDED
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1
+ <?xml version="1.0" ?>
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+ <!-- =================================================================================== -->
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+ <!-- | This document was autogenerated by xacro from mmk2.xacro | -->
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+ <!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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+ <!-- =================================================================================== -->
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+ <robot name="mmk2_s_g2" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor">
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+ </geometry>
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+ </link>
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+ <joint name="base_joint" type="fixed">
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+ <parent link="base_footprint"/>
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+ <child link="agv_link"/>
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+ </joint>
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+ <parent link="agv_link"/>
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+ <link name="rgt_wheel_link">
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+ <geometry>
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+ <material name="">
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+ <parent link="agv_link"/>
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+ <child link="rgt_wheel_link"/>
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+ </geometry>
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+ <material name="">
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+ <color rgba="1 1 1 1"/>
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+ </material>
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+ <origin rpy="0 0 0" xyz="-0.099989 0.15755 0.0595"/>
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+ <parent link="agv_link"/>
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+ <child link="rgt_behind_wheel_link"/>
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+ <link name="lft_behind_wheel_link">
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+ <geometry>
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+ </geometry>
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+ <material name="">
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+ <color rgba="1 1 1 1"/>
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+ </material>
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+ <origin rpy="0 0 0" xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="package://mmk2_s_g2/meshes/mmk2/collision/lft_behind_wheel_link.STL"/>
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+ </geometry>
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+ </link>
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+ <origin rpy="0 0 0" xyz="0.10001 0.15755 0.0595"/>
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+ <parent link="agv_link"/>
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+ <child link="lft_behind_wheel_link"/>
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+ <axis xyz="0 0 0"/>
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+ </joint>
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+ <link name="rgt_front_wheel_link">
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+ </inertial>
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+ <geometry>
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+ </geometry>
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+ <material name="">
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+ <color rgba="1 1 1 1"/>
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+ </material>
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+ </visual>
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+ <origin rpy="0 0 0" xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="package://mmk2_s_g2/meshes/mmk2/collision/rgt_front_wheel_link.STL"/>
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+ </geometry>
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+ </link>
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+ <joint name="rgt_front_wheel_joint" type="fixed">
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+ <parent link="agv_link"/>
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+ <child link="rgt_front_wheel_link"/>
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+ <axis xyz="0 0 0"/>
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+ <parent link="agv_link"/>
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721
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722
+ <link name="right_link6">
723
+ <inertial>
724
+ <origin rpy="0 0 0" xyz="-0.011264 1.1814E-06 2.7354E-06"/>
725
+ <mass value="0.14593"/>
726
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727
+ </inertial>
728
+ <visual>
729
+ <origin rpy="0 0 0" xyz="0 0 0"/>
730
+ <geometry>
731
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732
+ </geometry>
733
+ <material name="">
734
+ <color rgba="0.75294 0.75294 0.75294 1"/>
735
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+ </visual>
737
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738
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+ <geometry>
740
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741
+ </geometry>
742
+ </collision>
743
+ </link>
744
+ <joint name="right_joint6" type="revolute">
745
+ <origin rpy="0 0 1.5708" xyz="0 0.0864 0"/>
746
+ <parent link="right_link5"/>
747
+ <child link="right_link6"/>
748
+ <axis xyz="1 0 0"/>
749
+ <limit effort="3" lower="-3.009" upper="3.009" velocity="1"/>
750
+ </joint>
751
+ <joint name="right_arm_to_flange" type="fixed">
752
+ <origin rpy="0 0 0" xyz="0 0 0"/>
753
+ <parent link="right_link6"/>
754
+ <child link="right_flange"/>
755
+ </joint>
756
+
757
+ <link name="right_eef_base_link">
758
+ <inertial>
759
+ <origin rpy="0 0 0" xyz="0.046303 -9.8611E-06 -1.4675E-05"/>
760
+ <mass value="0.26507"/>
761
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762
+ </inertial>
763
+ <visual>
764
+ <origin rpy="0 0 0" xyz="0 0 0"/>
765
+ <geometry>
766
+ <mesh filename="package://mmk2_s_g2/meshes/G2/visual/base_link.STL"/>
767
+ </geometry>
768
+ <material name="">
769
+ <color rgba="0.75294 0.75294 0.75294 1"/>
770
+ </material>
771
+ </visual>
772
+ <collision>
773
+ <origin rpy="0 0 0" xyz="0 0 0"/>
774
+ <geometry>
775
+ <mesh filename="package://mmk2_s_g2/meshes/G2/collision/base_link.STL"/>
776
+ </geometry>
777
+ </collision>
778
+ </link>
779
+ <link name="right_eef_link1">
780
+ <inertial>
781
+ <origin rpy="0 0 0" xyz="-0.015415 -0.066964 0.014312"/>
782
+ <mass value="0.078003"/>
783
+ <inertia ixx="34.1905834" ixy="-0.1388713" ixz="-0.4368816" iyy="54.1781125" iyz="6.8453757" izz="27.3518738"/>
784
+ </inertial>
785
+ <visual>
786
+ <origin rpy="0 0 0" xyz="0 0 0"/>
787
+ <geometry>
788
+ <mesh filename="package://mmk2_s_g2/meshes/G2/visual/link1.STL"/>
789
+ </geometry>
790
+ <material name="">
791
+ <color rgba="0.75294 0.75294 0.75294 1"/>
792
+ </material>
793
+ </visual>
794
+ <collision>
795
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796
+ <geometry>
797
+ <mesh filename="package://mmk2_s_g2/meshes/G2/collision/link1.STL"/>
798
+ </geometry>
799
+ </collision>
800
+ </link>
801
+ <joint name="right_eef_joint1" type="prismatic">
802
+ <origin rpy="0 1.5708 0" xyz="0.0736 0.05 -0.015"/>
803
+ <parent link="right_eef_base_link"/>
804
+ <child link="right_eef_link1"/>
805
+ <axis xyz="0 1 0"/>
806
+ <limit effort="3" lower="-0.034" upper="0" velocity="1"/>
807
+ <mimic joint="right_eef_active_joint" multiplier="-0.034" offset="0"/>
808
+ </joint>
809
+ <link name="right_eef_link2">
810
+ <inertial>
811
+ <origin rpy="0 0 0" xyz="-0.014585 0.066964 0.014312"/>
812
+ <mass value="0.078003"/>
813
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814
+ </inertial>
815
+ <visual>
816
+ <origin rpy="0 0 0" xyz="0 0 0"/>
817
+ <geometry>
818
+ <mesh filename="package://mmk2_s_g2/meshes/G2/visual/link2.STL"/>
819
+ </geometry>
820
+ <material name="">
821
+ <color rgba="0.75294 0.75294 0.75294 1"/>
822
+ </material>
823
+ </visual>
824
+ <collision>
825
+ <origin rpy="0 0 0" xyz="0 0 0"/>
826
+ <geometry>
827
+ <mesh filename="package://mmk2_s_g2/meshes/G2/collision/link2.STL"/>
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+ </geometry>
829
+ </collision>
830
+ </link>
831
+ <joint name="right_eef_joint2" type="prismatic">
832
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833
+ <parent link="right_eef_base_link"/>
834
+ <child link="right_eef_link2"/>
835
+ <axis xyz="0 1 0"/>
836
+ <limit effort="3" lower="0" upper="0.034" velocity="1"/>
837
+ <mimic joint="right_eef_active_joint" multiplier="0.034" offset="0"/>
838
+ </joint>
839
+ <joint name="right_eef_active_joint" type="revolute">
840
+ <origin rpy="0 0 0" xyz="0 0 0"/>
841
+ <axis xyz="0 0 1"/>
842
+ <parent link="right_eef_base_link"/>
843
+ <child link="right_eef_rotate_motor"/>
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+ <limit effort="20" lower="0" upper="1" velocity="3.1415926"/>
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+ </joint>
846
+ <link name="right_eef_rotate_motor"/>
847
+ <joint name="right_gripper_connector" type="fixed">
848
+ <origin rpy="0 0 0" xyz="0.009 0 0"/>
849
+ <parent link="right_flange"/>
850
+ <child link="right_eef_base_link"/>
851
+ </joint>
852
+ <link name="right_end_link">
853
+ <inertial>
854
+ <origin rpy="0 0 0" xyz="0 0 0"/>
855
+ <mass value="1E-15"/>
856
+ <inertia ixx="1E-11" ixy="1E-15" ixz="1E-15" iyy="1E-11" iyz="1E-15" izz="1E-11"/>
857
+ </inertial>
858
+ </link>
859
+ <joint name="right_eef__end_joint" type="fixed">
860
+ <origin rpy="0 0 0" xyz="0.1593 0 0"/>
861
+ <parent link="right_eef_base_link"/>
862
+ <child link="right_end_link"/>
863
+ </joint>
864
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865
+ <link name="underboard_link">
866
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867
+ <origin rpy="0 0 0" xyz="-2.4003E-05 0.022863 0.0044812"/>
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+ <mass value="0.88853"/>
869
+ <inertia ixx="0.013467" ixy="2.4931E-08" ixz="-2.7615E-08" iyy="0.0093481" iyz="1.0343E-05" izz="0.022806"/>
870
+ </inertial>
871
+ <visual>
872
+ <origin rpy="0 0 0" xyz="0 0 0"/>
873
+ <geometry>
874
+ <mesh filename="package://mmk2_s_g2/meshes/mmk2/visual/underboard_link.STL"/>
875
+ </geometry>
876
+ <material name="">
877
+ <color rgba="0.79216 0.81961 0.93333 1"/>
878
+ </material>
879
+ </visual>
880
+ <collision>
881
+ <origin rpy="0 0 0" xyz="0 0 0"/>
882
+ <geometry>
883
+ <mesh filename="package://mmk2_s_g2/meshes/mmk2/collision/underboard_link.STL"/>
884
+ </geometry>
885
+ </collision>
886
+ </link>
887
+ <joint name="underboard_joint" type="fixed">
888
+ <origin rpy="0 0 0" xyz="1.3256E-05 -0.010746 0.2"/>
889
+ <parent link="agv_link"/>
890
+ <child link="underboard_link"/>
891
+ <axis xyz="0 0 0"/>
892
+ </joint>
893
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894
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895
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896
+ <mass value="11.501"/>
897
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898
+ </inertial>
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+ <visual>
900
+ <origin rpy="0 0 0" xyz="0 0 0"/>
901
+ <geometry>
902
+ <mesh filename="package://mmk2_s_g2/meshes/mmk2/visual/skin_link.STL"/>
903
+ </geometry>
904
+ <material name="">
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+ <color rgba="0.79216 0.81961 0.93333 1"/>
906
+ </material>
907
+ </visual>
908
+ <collision>
909
+ <origin rpy="0 0 0" xyz="0 0 0"/>
910
+ <geometry>
911
+ <mesh filename="package://mmk2_s_g2/meshes/mmk2/collision/skin_link.STL"/>
912
+ </geometry>
913
+ </collision>
914
+ </link>
915
+ <joint name="skin_joint" type="fixed">
916
+ <origin rpy="0 0 0" xyz="0 0.016967 0.008"/>
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+ <parent link="underboard_link"/>
918
+ <child link="skin_link"/>
919
+ <axis xyz="0 0 0"/>
920
+ </joint>
921
+ <link name="rail_link">
922
+ <inertial>
923
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+ <mass value="3.696"/>
925
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+ </inertial>
927
+ <visual>
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+ <geometry>
930
+ <mesh filename="package://mmk2_s_g2/meshes/mmk2/visual/rail_link.STL"/>
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+ </geometry>
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+ <material name="">
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+ </material>
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+ </visual>
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+ <collision>
937
+ <origin rpy="0 0 0" xyz="0 0 0"/>
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+ <geometry>
939
+ <mesh filename="package://mmk2_s_g2/meshes/mmk2/collision/rail_link.STL"/>
940
+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="rail_joint" type="fixed">
944
+ <origin rpy="0 0 0" xyz="0 0.0505 0"/>
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+ <parent link="underboard_link"/>
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+ <child link="rail_link"/>
947
+ <axis xyz="0 0 0"/>
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+ </joint>
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+ <link name="slide_link">
950
+ <inertial>
951
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952
+ <mass value="3.696"/>
953
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954
+ </inertial>
955
+ <visual>
956
+ <origin rpy="0 0 0" xyz="0 0 0"/>
957
+ <geometry>
958
+ <mesh filename="package://mmk2_s_g2/meshes/mmk2/visual/slide_link.STL"/>
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+ </geometry>
960
+ <material name="">
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+ </material>
963
+ </visual>
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+ <collision>
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+ <geometry>
967
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968
+ </geometry>
969
+ </collision>
970
+ </link>
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+ <joint name="slide_joint" type="prismatic">
972
+ <origin rpy="0 0 0" xyz="0 -0.06875 1.123"/>
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+ <parent link="rail_link"/>
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+ <child link="slide_link"/>
975
+ <axis xyz="0 0 -1"/>
976
+ <limit effort="100" lower="-0.055" upper="0.893" velocity="0.3"/>
977
+ </joint>
978
+ <link name="assembly_board_link">
979
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980
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983
+ </inertial>
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+ <geometry>
987
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988
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989
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991
+ </material>
992
+ </visual>
993
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994
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995
+ <geometry>
996
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997
+ </geometry>
998
+ </collision>
999
+ </link>
1000
+ <joint name="assembly_board_joint" type="fixed">
1001
+ <origin rpy="0 0 0" xyz="0 -0.02825 -0.01675"/>
1002
+ <parent link="slide_link"/>
1003
+ <child link="assembly_board_link"/>
1004
+ <axis xyz="0 0 0"/>
1005
+ </joint>
1006
+ <joint name="left_arm_base_joint" type="fixed">
1007
+ <origin rpy="1.5707963267949 3.141592654 0.78539816339745" xyz="0.0987031946288887 0.0272132410891314 2.82485111384734E-05"/>
1008
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1009
+ <child link="left_base_link"/>
1010
+ <axis xyz="0 0 0"/>
1011
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1012
+ <joint name="right_arm_base_joint" type="fixed">
1013
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1014
+ <parent link="assembly_board_link"/>
1015
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1016
+ <axis xyz="0 0 0"/>
1017
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1018
+ <link name="slide_connect_head_link">
1019
+ <inertial>
1020
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1021
+ <mass value="0.075076"/>
1022
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1023
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1024
+ <visual>
1025
+ <origin rpy="0 0 0" xyz="0 0 0"/>
1026
+ <geometry>
1027
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+ </geometry>
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+ <material name="">
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+ <color rgba="0.79216 0.81961 0.93333 1"/>
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+ </material>
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+ </visual>
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1035
+ <geometry>
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1037
+ </geometry>
1038
+ </collision>
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1040
+ <joint name="slide_connect_head_joint" type="fixed">
1041
+ <origin rpy="0 0 0" xyz="0 -0.1265 -0.02675"/>
1042
+ <parent link="assembly_board_link"/>
1043
+ <child link="slide_connect_head_link"/>
1044
+ <axis xyz="0 0 0"/>
1045
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1046
+ <link name="head_yaw_link">
1047
+ <inertial>
1048
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1049
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1050
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1051
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1052
+ <visual>
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+ <origin rpy="0 0 0" xyz="0 0 0"/>
1054
+ <geometry>
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1056
+ </geometry>
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+ <material name="">
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+ </material>
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+ </visual>
1061
+ <collision>
1062
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+ <geometry>
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+ </geometry>
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+ </link>
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+ <joint name="head_yaw_joint" type="revolute">
1069
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1070
+ <parent link="slide_connect_head_link"/>
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+ <child link="head_yaw_link"/>
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+ <axis xyz="0 0 -1"/>
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+ <limit effort="0" lower="-0.4" upper="0.5" velocity="0"/>
1074
+ </joint>
1075
+ <link name="yaw_connect_link">
1076
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1077
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1078
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1079
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1080
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+ <visual>
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+ <geometry>
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+ </geometry>
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+ </material>
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+ </visual>
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+ <geometry>
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+ </geometry>
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+ </collision>
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+ </link>
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+ <joint name="yaw_connect_joint" type="fixed">
1098
+ <origin rpy="0 0 0" xyz="0 0 0.01"/>
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+ <parent link="head_yaw_link"/>
1100
+ <child link="yaw_connect_link"/>
1101
+ <axis xyz="0 0 0"/>
1102
+ </joint>
1103
+ <link name="head_pitch_link">
1104
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1105
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1106
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1107
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1108
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1109
+ <visual>
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+ <origin rpy="0 0 0" xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="package://mmk2_s_g2/meshes/mmk2/visual/head_pitch_link.STL"/>
1113
+ </geometry>
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+ <color rgba="0.79216 0.81961 0.93333 1"/>
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+ </material>
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+ </visual>
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+ <geometry>
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1122
+ </geometry>
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+ </collision>
1124
+ </link>
1125
+ <joint name="head_pitch_joint" type="revolute">
1126
+ <origin rpy="1.5708 0 1.5994" xyz="0.016073 0.00046009 0.028995"/>
1127
+ <parent link="yaw_connect_link"/>
1128
+ <child link="head_pitch_link"/>
1129
+ <axis xyz="0 0 -1"/>
1130
+ <limit effort="0" lower="-0.55" upper="0.35" velocity="0"/>
1131
+ </joint>
1132
+ <link name="pitch_connect_link">
1133
+ <inertial>
1134
+ <origin rpy="0 0 0" xyz="-0.038695 0.135 -0.022771"/>
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+ <mass value="0.69934"/>
1136
+ <inertia ixx="0.0027933" ixy="-0.00024431" ixz="1.6206E-08" iyy="0.0018608" iyz="5.1733E-06" izz="0.0021406"/>
1137
+ </inertial>
1138
+ <visual>
1139
+ <origin rpy="0 0 0" xyz="0 0 0"/>
1140
+ <geometry>
1141
+ <mesh filename="package://mmk2_s_g2/meshes/mmk2/visual/pitch_connect_link.STL"/>
1142
+ </geometry>
1143
+ <material name="">
1144
+ <color rgba="0.79216 0.81961 0.93333 1"/>
1145
+ </material>
1146
+ </visual>
1147
+ <collision>
1148
+ <origin rpy="0 0 0" xyz="0 0 0"/>
1149
+ <geometry>
1150
+ <mesh filename="package://mmk2_s_g2/meshes/mmk2/collision/pitch_connect_link.STL"/>
1151
+ </geometry>
1152
+ </collision>
1153
+ </link>
1154
+ <joint name="pitch_connect_joint" type="fixed">
1155
+ <origin rpy="0 0 0" xyz="0 0 0.006"/>
1156
+ <parent link="head_pitch_link"/>
1157
+ <child link="pitch_connect_link"/>
1158
+ <axis xyz="0 0 0"/>
1159
+ </joint>
1160
+ </robot>