omx-multicubes-mujoco / omx_multicubes.xml

Match the real setup: fence, board outline, 9 mm slats, mast and light

b022719 verified 2 days ago

6.24 kB

<!--
  OMX multicubes scene: a ROBOTIS OMX arm on a grey board, a fence of wooden slats, a blue tape square and
  four painted wooden cubes, as in the maximellerbach/omx_multicubes and omx_pickandplace datasets.
  The arm (ROBOTIS's robotis_omx MJCF) is attached at the `omx_mount` site; env.py adds the wrist camera to
  its `link5`. Positions are in meters from the arm's base, x forward and y to the arm's left. The layout and
  the top camera were measured on the dataset's top camera images (see README).
-->
<mujoco model="omx_multicubes">
  <!-- The extent of the workspace, not of the room: MuJoCo scales the near clipping plane and the shadow
       map with it, and the wrist camera sees the gripper from a few centimeters. -->
  <statistic center="0.2 0 0.1" extent="0.6"/>

  <!-- The arm model's options, which attaching it drops, and several contact points between convex
       meshes, so that the fingers hold a cube flat instead of on a single point. -->
  <option cone="elliptic" impratio="10">
    <flag multiccd="enable"/>
  </option>

  <visual>
    <headlight diffuse="0.25 0.25 0.25" ambient="0.30 0.30 0.30" specular="0 0 0"/>
    <quality shadowsize="4096"/>
  </visual>

  <asset>
    <texture type="skybox" builtin="gradient" rgb1="0.75 0.75 0.75" rgb2="0.45 0.45 0.45" width="512" height="3072"/>
    <texture name="carpet" type="2d" builtin="flat" mark="random" random="0.4" rgb1="0.42 0.41 0.39"
             markrgb="0.55 0.53 0.50" width="512" height="512"/>
    <material name="carpet" texture="carpet" texuniform="true" texrepeat="8 8"/>
    <material name="board" rgba="0.62 0.66 0.71 1" specular="0.1" shininess="0.2"/>
    <material name="slat" rgba="0.84 0.75 0.62 1" specular="0.05"/>
    <material name="tape" rgba="0.10 0.30 0.62 1" specular="0.2"/>
    <material name="aluminium" rgba="0.75 0.76 0.78 1" specular="0.5" shininess="0.5"/>
    <!-- Painted wooden cubes: one light wood grain, tinted by each cube's material. -->
    <texture name="wood" type="cube" file="textures/wood.png"/>
    <material name="red_wood" texture="wood" rgba="0.92 0.10 0.10 1" specular="0.2" shininess="0.3"/>
    <material name="green_wood" texture="wood" rgba="0.18 0.55 0.18 1" specular="0.2" shininess="0.3"/>
    <material name="blue_wood" texture="wood" rgba="0.10 0.35 0.85 1" specular="0.2" shininess="0.3"/>
    <material name="yellow_wood" texture="wood" rgba="1.0 0.85 0.10 1" specular="0.2" shininess="0.3"/>
    <!-- Board outline: its near edge back-projected from the top images, its sides 8 mm outside the side slats. -->
    <mesh name="board" vertex="-0.0880 -0.3134 0.0 0.5600 -0.3625 0.0 0.5600 0.3320 0.0 -0.0880 0.3320 0.0 -0.0880 -0.3134 -0.02 0.5600 -0.3625 -0.02 0.5600 0.3320 -0.02 -0.0880 0.3320 -0.02"/>
  </asset>

  <default>
    <default class="cube">
      <geom type="box" size="0.0145 0.0145 0.0145" mass="0.02" condim="4" friction="1 0.03 0.003" solref="0.004 1"
            solimp="0.95 0.99 0.001"/>
    </default>
    <!-- Fence slats: 9 x 9 mm wooden strips that the cubes can bump into. -->
    <default class="slat">
      <geom type="box" material="slat"/>
    </default>
    <!-- Tape and mast: visual only. -->
    <default class="decor">
      <geom type="box" contype="0" conaffinity="0"/>
    </default>
  </default>

  <worldbody>
    <light pos="0.2 0 2.5" dir="0 0 -1" directional="true" diffuse="0.35 0.35 0.35"/>
    <light pos="-0.5 -0.4 1.2" dir="0.4 0.3 -1" diffuse="0.25 0.25 0.25" castshadow="true"/>

    <!-- Carpet floor and the 2 cm board the arm is screwed onto, its outline back-projected from the top images; the board's top is z = 0. -->
    <geom name="floor" type="plane" size="0 0 0.05" pos="0 0 -0.02" material="carpet"/>
    <geom name="board" type="mesh" mesh="board" material="board"/>

    <site name="omx_mount" pos="0 0 0"/>

    <!-- Fence: seven slats around the workspace, open behind the arm, back-projected from the dataset's top
         images. A top photo of the real setup agrees within about 1 cm: the front slats' inner face is about
         0.38 m from the pan axis, so the arm reaches them just before it is fully straight. -->
    <geom class="slat" fromto="-0.0548 -0.0839 0.0045 -0.0110 -0.3067 0.0045" size="0.0045"/>
    <geom class="slat" fromto="-0.0110 -0.3067 0.0045 0.2370 -0.3255 0.0045" size="0.0045"/>
    <geom class="slat" fromto="0.2370 -0.3255 0.0045 0.3738 -0.1372 0.0045" size="0.0045"/>
    <geom class="slat" fromto="0.3738 -0.1372 0.0045 0.3795 0.1367 0.0045" size="0.0045"/>
    <geom class="slat" fromto="0.3795 0.1367 0.0045 0.2450 0.3194 0.0045" size="0.0045"/>
    <geom class="slat" fromto="0.2450 0.3194 0.0045 -0.0108 0.3195 0.0045" size="0.0045"/>
    <geom class="slat" fromto="-0.0108 0.3195 0.0045 -0.0633 0.0742 0.0045" size="0.0045"/>

    <!-- Blue tape square, 12.8 x 15.3 cm outside, 1.4 cm tape. -->
    <body name="square" pos="0.172 -0.1875 0">
      <geom class="decor" material="tape" size="0.0640 0.0070 0.0003" pos="0 0.0695 0.0003"/>
      <geom class="decor" material="tape" size="0.0640 0.0070 0.0003" pos="0 -0.0695 0.0003"/>
      <geom class="decor" material="tape" size="0.0070 0.0765 0.0003" pos="0.0570 0 0.0003"/>
      <geom class="decor" material="tape" size="0.0070 0.0765 0.0003" pos="-0.0570 0 0.0003"/>
    </body>

    <!-- The top camera's aluminium mast at the far end of the board, as the wrist camera sees it. -->
    <geom class="decor" material="aluminium" size="0.02 0.02 0.26" pos="0.47 0 0.26"/>

    <body name="red_cube" pos="0.15 0.20 0.0145">
      <freejoint/>
      <geom class="cube" material="red_wood"/>
    </body>
    <body name="green_cube" pos="0.20 0.24 0.0145">
      <freejoint/>
      <geom class="cube" material="green_wood"/>
    </body>
    <body name="blue_cube" pos="0.14 0.16 0.0145">
      <freejoint/>
      <geom class="cube" material="blue_wood"/>
    </body>
    <body name="yellow_cube" pos="0.18 0.28 0.0145">
      <freejoint/>
      <geom class="cube" material="yellow_wood"/>
    </body>

    <!-- Fitted to the dataset's top camera: mostly straight down, the arm at the top of the image. -->
    <camera name="top" pos="0.2541 -0.0099 0.4250" quat="0.70592 0.06232 0.06204 0.70282" fovy="62.22"/>
  </worldbody>
</mujoco>

	<!--
	OMX multicubes scene: a ROBOTIS OMX arm on a grey board, a fence of wooden slats, a blue tape square and
	four painted wooden cubes, as in the maximellerbach/omx_multicubes and omx_pickandplace datasets.

	The arm (ROBOTIS's robotis_omx MJCF) is attached at the `omx_mount` site; env.py adds the wrist camera to
	its `link5`. Positions are in meters from the arm's base, x forward and y to the arm's left. The layout and
	the top camera were measured on the dataset's top camera images (see README).
	-->
	<mujoco model="omx_multicubes">
	<!-- The extent of the workspace, not of the room: MuJoCo scales the near clipping plane and the shadow
	map with it, and the wrist camera sees the gripper from a few centimeters. -->
	<statistic center="0.2 0 0.1" extent="0.6"/>

	<!-- The arm model's options, which attaching it drops, and several contact points between convex
	meshes, so that the fingers hold a cube flat instead of on a single point. -->
	<option cone="elliptic" impratio="10">
	<flag multiccd="enable"/>
	</option>

	<visual>
	<headlight diffuse="0.25 0.25 0.25" ambient="0.30 0.30 0.30" specular="0 0 0"/>
	<quality shadowsize="4096"/>
	</visual>

	<asset>
	<texture type="skybox" builtin="gradient" rgb1="0.75 0.75 0.75" rgb2="0.45 0.45 0.45" width="512" height="3072"/>
	<texture name="carpet" type="2d" builtin="flat" mark="random" random="0.4" rgb1="0.42 0.41 0.39"
	markrgb="0.55 0.53 0.50" width="512" height="512"/>
	<material name="carpet" texture="carpet" texuniform="true" texrepeat="8 8"/>
	<material name="board" rgba="0.62 0.66 0.71 1" specular="0.1" shininess="0.2"/>
	<material name="slat" rgba="0.84 0.75 0.62 1" specular="0.05"/>
	<material name="tape" rgba="0.10 0.30 0.62 1" specular="0.2"/>
	<material name="aluminium" rgba="0.75 0.76 0.78 1" specular="0.5" shininess="0.5"/>
	<!-- Painted wooden cubes: one light wood grain, tinted by each cube's material. -->
	<texture name="wood" type="cube" file="textures/wood.png"/>
	<material name="red_wood" texture="wood" rgba="0.92 0.10 0.10 1" specular="0.2" shininess="0.3"/>
	<material name="green_wood" texture="wood" rgba="0.18 0.55 0.18 1" specular="0.2" shininess="0.3"/>
	<material name="blue_wood" texture="wood" rgba="0.10 0.35 0.85 1" specular="0.2" shininess="0.3"/>
	<material name="yellow_wood" texture="wood" rgba="1.0 0.85 0.10 1" specular="0.2" shininess="0.3"/>
	<!-- Board outline: its near edge back-projected from the top images, its sides 8 mm outside the side slats. -->
	<mesh name="board" vertex="-0.0880 -0.3134 0.0 0.5600 -0.3625 0.0 0.5600 0.3320 0.0 -0.0880 0.3320 0.0 -0.0880 -0.3134 -0.02 0.5600 -0.3625 -0.02 0.5600 0.3320 -0.02 -0.0880 0.3320 -0.02"/>
	</asset>

	<default>
	<default class="cube">
	<geom type="box" size="0.0145 0.0145 0.0145" mass="0.02" condim="4" friction="1 0.03 0.003" solref="0.004 1"
	solimp="0.95 0.99 0.001"/>
	</default>
	<!-- Fence slats: 9 x 9 mm wooden strips that the cubes can bump into. -->
	<default class="slat">
	<geom type="box" material="slat"/>
	</default>
	<!-- Tape and mast: visual only. -->
	<default class="decor">
	<geom type="box" contype="0" conaffinity="0"/>
	</default>
	</default>

	<worldbody>
	<light pos="0.2 0 2.5" dir="0 0 -1" directional="true" diffuse="0.35 0.35 0.35"/>
	<light pos="-0.5 -0.4 1.2" dir="0.4 0.3 -1" diffuse="0.25 0.25 0.25" castshadow="true"/>

	<!-- Carpet floor and the 2 cm board the arm is screwed onto, its outline back-projected from the top images; the board's top is z = 0. -->
	<geom name="floor" type="plane" size="0 0 0.05" pos="0 0 -0.02" material="carpet"/>
	<geom name="board" type="mesh" mesh="board" material="board"/>

	<site name="omx_mount" pos="0 0 0"/>

	<!-- Fence: seven slats around the workspace, open behind the arm, back-projected from the dataset's top
	images. A top photo of the real setup agrees within about 1 cm: the front slats' inner face is about
	0.38 m from the pan axis, so the arm reaches them just before it is fully straight. -->
	<geom class="slat" fromto="-0.0548 -0.0839 0.0045 -0.0110 -0.3067 0.0045" size="0.0045"/>
	<geom class="slat" fromto="-0.0110 -0.3067 0.0045 0.2370 -0.3255 0.0045" size="0.0045"/>
	<geom class="slat" fromto="0.2370 -0.3255 0.0045 0.3738 -0.1372 0.0045" size="0.0045"/>
	<geom class="slat" fromto="0.3738 -0.1372 0.0045 0.3795 0.1367 0.0045" size="0.0045"/>
	<geom class="slat" fromto="0.3795 0.1367 0.0045 0.2450 0.3194 0.0045" size="0.0045"/>
	<geom class="slat" fromto="0.2450 0.3194 0.0045 -0.0108 0.3195 0.0045" size="0.0045"/>
	<geom class="slat" fromto="-0.0108 0.3195 0.0045 -0.0633 0.0742 0.0045" size="0.0045"/>

	<!-- Blue tape square, 12.8 x 15.3 cm outside, 1.4 cm tape. -->
	<body name="square" pos="0.172 -0.1875 0">
	<geom class="decor" material="tape" size="0.0640 0.0070 0.0003" pos="0 0.0695 0.0003"/>
	<geom class="decor" material="tape" size="0.0640 0.0070 0.0003" pos="0 -0.0695 0.0003"/>
	<geom class="decor" material="tape" size="0.0070 0.0765 0.0003" pos="0.0570 0 0.0003"/>
	<geom class="decor" material="tape" size="0.0070 0.0765 0.0003" pos="-0.0570 0 0.0003"/>
	</body>

	<!-- The top camera's aluminium mast at the far end of the board, as the wrist camera sees it. -->
	<geom class="decor" material="aluminium" size="0.02 0.02 0.26" pos="0.47 0 0.26"/>

	<body name="red_cube" pos="0.15 0.20 0.0145">
	<freejoint/>
	<geom class="cube" material="red_wood"/>
	</body>
	<body name="green_cube" pos="0.20 0.24 0.0145">
	<freejoint/>
	<geom class="cube" material="green_wood"/>
	</body>
	<body name="blue_cube" pos="0.14 0.16 0.0145">
	<freejoint/>
	<geom class="cube" material="blue_wood"/>
	</body>
	<body name="yellow_cube" pos="0.18 0.28 0.0145">
	<freejoint/>
	<geom class="cube" material="yellow_wood"/>
	</body>

	<!-- Fitted to the dataset's top camera: mostly straight down, the arm at the top of the image. -->
	<camera name="top" pos="0.2541 -0.0099 0.4250" quat="0.70592 0.06232 0.06204 0.70282" fovy="62.22"/>
	</worldbody>
	</mujoco>