Spaces:
Sleeping
Sleeping
| <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"/> | |
| <!-- Contact defaults --> | |
| <default> | |
| <!-- stiffer contact with faster response --> | |
| <!-- reduce compliance smoothing --> | |
| <!-- contact dimensionality — number of contact force directions --> | |
| <!-- defines the collision margin (in meters) --> | |
| <geom | |
| solref="0.001 0.2" | |
| solimp="0.95 0.95 0.001" | |
| condim="4" | |
| margin="0.002" | |
| friction="0.6 0.005 0.0001" | |
| /> | |
| <joint damping="0.2"/> <!-- Damping from pusher for stability (previously set to "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> | |
| <!-- Origin marker at world coordinate system --> | |
| <site name="origin_marker" pos="0 0 0" size="0.05" rgba="1 1 0 1"/> | |
| <!-- Lighting --> | |
| <light name="main_light" diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/> | |
| <!-- Camera (isometric top view) --> | |
| <camera name="main_cam" pos="0.5 -0.5 0.4" quat="0.707 0.0 0.707 0.0"/> | |
| <!-- Tilted tray and walls--> | |
| <body name="tray" pos="0 0 0" zaxis="-0.3 0 1"> | |
| <!-- Tray floor --> | |
| <geom name="tray_floor" type="box" size="0.3 0.3 0.02" | |
| rgba="0.9 0.9 0.9 1" material="tray_material" | |
| friction="1.0 0.005 0.0001"/> | |
| <!-- Walls --> | |
| <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> | |
| <!-- Puck (pusher) with lower sliding friction --> | |
| <body name="puck" pos="0.0 0.0 0.05" quat="1 0 0 0"> | |
| <geom type="cylinder" size="0.04 0.01" | |
| rgba="1 0 1 1" density="1000" material="obj_material" | |
| friction="0.33 0.005 0.0001"/> | |
| <joint type="free" damping="0.2"/> | |
| <site name="puck_site" pos="0 0 0" size="0.001"/> | |
| </body> | |
| <!-- Objects --> | |
| <!-- | |
| <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> | |
| --> | |
| </worldbody> | |
| <!-- Tendon for spring-like behavior (stiffness inference) --> | |
| <!-- | |
| <tendon> | |
| <spatial name="spring_obj0" stiffness="100" damping="1.0" width="0.005"> | |
| <site site="obj0_site"/> | |
| <site site="tray_site"/> | |
| </spatial> | |
| </tendon> | |
| --> | |
| <keyframe> | |
| <key name="scene" qpos="0 0 0.02 1 0 0 0" qvel="0 0 0 0 1 200" /> | |
| </keyframe> | |
| </mujoco> |