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updates and bugfix in detpmp_wrapper

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Maximilian Huettenrauch
2021-05-27 17:09:11 +02:00
parent f5f12c846f
commit 4aa31a004a
6 changed files with 46 additions and 35 deletions
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alr_envs/mujoco/ball_in_a_cup/assets/biac_base.xml
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@@ -126,6 +126,7 @@
<geom name="cup_base" pos="0 -0.035 0.1165" euler="-1.57 0 0" type="cylinder" size="0.038 0.0045" solref="-10000 -100"/>
<!-- <geom name="cup_base_contact" pos="0 -0.025 0.1165" euler="-1.57 0 0" type="cylinder" size="0.03 0.0005" solref="-10000 -100" rgba="0 0 255 1"/>-->
<geom name="cup_base_contact" pos="0 -0.005 0.1165" euler="-1.57 0 0" type="cylinder" size="0.02 0.0005" solref="-10000 -100" rgba="0 0 255 1"/>
<geom name="cup_base_contact_below" pos="0 -0.04 0.1165" euler="-1.57 0 0" type="cylinder" size="0.035 0.001" solref="-10000 -100" rgba="255 0 255 1"/>
<!-- <geom name="cup_geom11" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup11" />-->
<!-- <geom name="cup_geom12" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup12" />-->
<!-- <geom name="cup_geom13" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup13" />-->