| | <mujoco model="tray_sim"> |
| | <compiler angle="degree" coordinate="local" inertiafromgeom="true"/> |
| | <option gravity="0 0 -9.81" timestep="0.004" integrator="RK4"/> |
| | <size njmax="1000" nconmax="500"/> |
| |
|
| | <default> |
| | <geom solref="0.02 1.0" solimp="0.9 0.95 0.001" condim="4" margin="0.002" friction="0.6 0.005 0.0001"/> |
| | <joint damping="0.1"/> |
| | </default> |
| |
|
| | <visual> |
| | <global offheight="640" offwidth="640"/> |
| | <quality/> |
| | <map zfar="50"/> |
| | </visual> |
| |
|
| | <asset> |
| | <material name="tray_material" reflectance="0.7" specular="0.3"/> |
| | <material name="obj_material" reflectance="0.5" specular="0.5"/> |
| | <material name="pusher_material" reflectance="0.2" specular="0.2"/> |
| | </asset> |
| |
|
| | <worldbody> |
| | |
| | <light name="main_light" diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/> |
| |
|
| | |
| | <camera name="main_cam" pos="0.5 -0.5 0.4" quat="0.707 0.0 0.707 0.0"/> |
| |
|
| | |
| | <body name="tray" pos="0 0 0"> |
| | <geom name="tray_floor" type="box" size="0.3 0.3 0.02" rgba="0.9 0.9 0.9 1" material="tray_material"/> |
| | <geom type="box" pos="0.0 0.29 0.04" size="0.3 0.01 0.04" rgba="0.9 0.9 0.9 1" material="tray_material"/> |
| | <geom type="box" pos="0.0 -0.29 0.04" size="0.3 0.01 0.04" rgba="0.9 0.9 0.9 1" material="tray_material"/> |
| | <geom type="box" pos="0.29 0.0 0.04" size="0.01 0.3 0.04" rgba="0.9 0.9 0.9 1" material="tray_material"/> |
| | <geom type="box" pos="-0.29 0.0 0.04" size="0.01 0.3 0.04" rgba="0.9 0.9 0.9 1" material="tray_material"/> |
| |
|
| | <site name="tray_site" pos="0.1 0.1 0.02" size="0.001"/> |
| | </body> |
| |
|
| | |
| | <body name="obj0" pos="0.12 -0.18 0.1"> |
| | <geom type="box" size="0.015 0.015 0.015" rgba="1 0 0 1" density="1000" material="obj_material"/> |
| | <joint type="free"/> |
| | <site name="obj0_site" pos="0 0 0" size="0.001"/> |
| | </body> |
| |
|
| | <body name="obj1" pos="-0.07 0.22 0.1"> |
| | <geom type="sphere" size="0.015" rgba="0 1 0 1" density="2000" material="obj_material"/> |
| | <joint type="free"/> |
| | </body> |
| |
|
| | <body name="obj2" pos="0.19 0.03 0.1"> |
| | <geom type="box" size="0.015 0.015 0.015" rgba="0 0 1 1" density="1000" material="obj_material"/> |
| | <joint type="free"/> |
| | </body> |
| |
|
| | <body name="obj3" pos="-0.14 -0.09 0.1"> |
| | <geom type="sphere" size="0.015" rgba="1 1 0 1" density="2000" material="obj_material"/> |
| | <joint type="free"/> |
| | </body> |
| |
|
| | <body name="obj4" pos="0.1 0.2 0.1" quat="1 0 0 0"> |
| | <geom type="cylinder" size="0.015 0.03" rgba="1 0 1 1" density="500" material="obj_material"/> |
| | <joint type="free"/> |
| | </body> |
| |
|
| | <body name="obj5" pos="-0.21 0.08 0.1"> |
| | <geom type="sphere" size="0.015" rgba="0 1 1 1" density="2000" material="obj_material"/> |
| | <joint type="free"/> |
| | </body> |
| |
|
| | <body name="obj6" pos="0.17 -0.12 0.1"> |
| | <geom type="box" size="0.015 0.015 0.015" rgba="1 0.5 0 1" density="1000" material="obj_material"/> |
| | <joint type="free"/> |
| | </body> |
| |
|
| | <body name="obj7" pos="-0.03 -0.20 0.1"> |
| | <geom type="sphere" size="0.015" rgba="0.5 0 1 1" density="2000" material="obj_material"/> |
| | <joint type="free"/> |
| | </body> |
| |
|
| | <body name="obj8" pos="0.24 0.11 0.1"> |
| | <geom type="box" size="0.015 0.015 0.015" rgba="0.3 0.8 0.2 1" density="1000" material="obj_material"/> |
| | <joint type="free"/> |
| | </body> |
| |
|
| | <body name="obj9" pos="-0.16 0.19 0.1"> |
| | <geom type="sphere" size="0.015" rgba="0.9 0.3 0.7 1" density="2000" material="obj_material"/> |
| | <joint type="free"/> |
| | </body> |
| |
|
| | |
| | <body name="pusher" pos="0.20 0.10 0.2"> |
| | <geom type="cylinder" size="0.04 0.01" rgba="0 0 0 1" density="2500" material="pusher_material"/> |
| | <joint type="free" damping="0.2"/> |
| | </body> |
| | </worldbody> |
| |
|
| | |
| | <tendon> |
| | <spatial name="spring_obj0" stiffness="100" damping="1.0" width="0.005"> |
| | <site site="obj0_site"/> |
| | <site site="tray_site"/> |
| | </spatial> |
| | </tendon> |
| | </mujoco> |
| |
|
