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Maximilian Huettenrauch
2021-03-19 16:31:46 +01:00
parent 1d8b22245d
commit a0692b1089
9 changed files with 537 additions and 69 deletions
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alr_envs/mujoco/beerpong/assets/beerpong.xml
+50 -38
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@@ -1,6 +1,6 @@
<mujoco model="wam(v1.31)">
<compiler angle="radian" meshdir="../../meshes/wam/" />
<option timestep="0.005" integrator="Euler" />
<option timestep="0.0005" integrator="Euler" />
<size njmax="500" nconmax="100" />
<default class="main">
<joint limited="true" frictionloss="0.001" damping="0.07"/>
@@ -135,12 +135,8 @@
<geom priority="1" name="cup_geom8" pos="0 0.015 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup8" />
<geom priority="1" name="cup_geom9" pos="0 0.015 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup9" />
<geom priority="1" name="cup_geom10" pos="0 0.015 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup10" />
<geom name="cup_base" pos="0 -0.035 0.1165" euler="-1.57 0 0" type="cylinder" size="0.038 0.0375" solref="-10000 -100"/>
<geom name="cup_base_contact" pos="0 0.00215 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_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" />-->
<!-- <geom name="cup_geom14" pos="0 0.05 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup14" />-->
<geom name="cup_base" pos="0 -0.05 0.1165" euler="-1.57 0 0" type="cylinder" size="0.038 0.025" solref="-10000 -100"/>
<geom name="cup_base_contact" pos="0 -0.005 0.1165" euler="-1.57 0 0" type="cylinder" size="0.03 0.0005" solref="-10000 -100" rgba="0 0 255 1"/>
<geom priority="1" name="cup_geom15" pos="0 0.015 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup15" />
<geom priority="1" name="cup_geom16" pos="0 0.015 0.055" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup16" />
@@ -157,37 +153,44 @@
</body>
</body>
</body>
<!-- <geom name="table" type="box" size="0.4 0.6 0.3" pos="0 -1.75 0.3025" rgba="0.8 0.655 0.45 1" solimp="0.999 0.999 0.001"-->
<geom name="table" type="box" size="0.4 0.6 0.4" pos="0 -1.85 0.4025" rgba="0.8 0.655 0.45 1" solimp="0.999 0.999 0.001"
<body name="table_body" pos="0 -1.85 0.4025">
<geom name="table" type="box" size="0.4 0.6 0.4" rgba="0.8 0.655 0.45 1" solimp="0.999 0.999 0.001"
solref="-10000 -100"/>
<geom name="table_contact_geom" type="box" size="0.4 0.6 0.01" pos="0 0 0.41" rgba="1.4 0.8 0.45 1" solimp="0.999 0.999 0.001"
solref="-10000 -100"/>
</body>
<geom name="table_robot" type="box" size="0.1 0.1 0.3" pos="0 0.00 0.3025" rgba="0.8 0.655 0.45 1" solimp="0.999 0.999 0.001"
solref="-10000 -100"/>
<geom name="wall" type="box" quat="1 0 0 0" size="0.4 0.04 1.1" pos="0. -2.45 1.1" rgba="0.8 0.655 0.45 1" solimp="0.999 0.999 0.001"
solref="-10000 -100"/>
<!--initial-->
<!-- <body name="cup_table" pos="0 -2 0.840" quat="0.7071068 0.7071068 0 0">-->
<!--first diff-->
<!-- <body name="cup_table" pos="0.1 -1.5 0.840" quat="0.7071068 0.7071068 0 0">-->
<!-- second diff-->
<!-- <body name="cup_table" pos="-0.3 -2.1 0.840" quat="0.7071068 0.7071068 0 0">-->
<body name="cup_table" pos="0.32 -1.2 0.84" quat="0.7071068 0.7071068 0 0">
<inertial pos="-3.75236e-10 8.27811e-05 0.0947015" quat="0.999945 -0.0104888 0 0" mass="0.132" diaginertia="0.000285643 0.000270485 9.65696e-05" />
<geom priority= "1" name="cup_geom_table3" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup3_table" />
<geom priority= "1" name="cup_geom_table4" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup4_table" />
<geom priority= "1" name="cup_geom_table5" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup5_table" />
<geom priority= "1" name="cup_geom_table6" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup6_table" />
<geom priority= "1" name="cup_geom_table7" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup7_table" />
<geom priority= "1" name="cup_geom_table8" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup8_table" />
<geom priority= "1" name="cup_geom_table9" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup9_table" />
<geom priority= "1" name="cup_geom_table10" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup10_table" />
<geom priority= "1" name="cup_base_table" pos="0 -0.035 0.1337249" euler="-1.57 0 0" type="cylinder" size="0.08 0.045" solref="-10000 -100"/>
<geom priority= "1" name="cup_base_table_contact" pos="0 0.015 0.1337249" euler="-1.57 0 0" type="cylinder" size="0.06 0.0005" solref="-10000 -100" rgba="0 0 255 1"/>
<geom priority= "1" name="cup_geom_table15" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup15_table" />
<geom priority= "1" name="cup_geom_table16" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup16_table" />
<geom priority= "1" name="cup_geom_table17" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup17_table" />
<geom priority= "1" name="cup_geom1_table8" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup18_table" />
<!-- <geom name="side_wall_left" type="box" quat="1 0 0 0" size="0.04 0.4 0.5" pos="0.45 -2.05 1.1" rgba="0.8 0.655 0.45 1" solimp="0.999 0.999 0.001"-->
<!-- solref="-10000 -100"/>-->
<!-- <geom name="side_wall_right" type="box" quat="1 0 0 0" size="0.04 0.4 0.5" pos="-0.45 -2.05 1.1" rgba="0.8 0.655 0.45 1" solimp="0.999 0.999 0.001"-->
<!-- solref="-10000 -100"/>-->
<!-- <body name="cup_table" pos="0.32 -1.55 0.84" quat="0.7071068 0.7071068 0 0">-->
<!-- <geom priority= "1" type="box" size ="0.1 0.1 0.1" name="cup_base_table" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -10" mass="10"/>-->
<!-- </body>-->
<body name="cup_table" pos="0.32 -1.55 0.84" quat="0.7071068 0.7071068 0 0">
<inertial pos="-3.75236e-10 8.27811e-05 0.0947015" quat="0.999945 -0.0104888 0 0" mass="10.132" diaginertia="0.000285643 0.000270485 9.65696e-05" />
<geom priority= "1" name="cup_geom_table3" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup3_table" mass="10"/>
<geom priority= "1" name="cup_geom_table4" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup4_table" mass="10"/>
<geom priority= "1" name="cup_geom_table5" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup5_table" mass="10"/>
<geom priority= "1" name="cup_geom_table6" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup6_table" mass="10"/>
<geom priority= "1" name="cup_geom_table7" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup7_table" mass="10"/>
<geom priority= "1" name="cup_geom_table8" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup8_table" mass="10"/>
<geom priority= "1" name="cup_geom_table9" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup9_table" mass="10"/>
<geom priority= "1" name="cup_geom_table10" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -010" type="mesh" mesh="cup10_table" mass="10"/>
<geom priority= "1" name="cup_base_table" pos="0 -0.035 0.1337249" euler="-1.57 0 0" type="cylinder" size="0.08 0.045" solref="-10000 -100" mass="10"/>
<geom priority= "1" name="cup_base_table_contact" pos="0 0.015 0.1337249" euler="-1.57 0 0" type="cylinder" size="0.06 0.0005" solref="-10000 -100" rgba="0 0 255 1" mass="10"/>
<geom priority= "1" name="cup_geom_table15" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup15_table" mass="10"/>
<geom priority= "1" name="cup_geom_table16" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup16_table" mass="10"/>
<geom priority= "1" name="cup_geom_table17" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup17_table" mass="10"/>
<geom priority= "1" name="cup_geom1_table8" pos="0 0.1 0.001" euler="-1.57 0 0" solref="-10000 -100" type="mesh" mesh="cup18_table" mass="10"/>
<site name="cup_goal_table" pos="0 0.11 0.1337249" rgba="255 0 0 1"/>
<site name="cup_goal_final_table" pos="0.0 0.025 0.1337249" rgba="0 255 0 1"/>
<site name="bounce_table" pos="0.0 -0.015 -0.2 " rgba="255 255 0 1"/>
<!-- <site name="cup_goal_final_table" pos="0.0 -0.025 0.1337249" rgba="0 255 0 1"/>-->
</body>
@@ -213,14 +216,23 @@
<!-- <position ctrlrange="-4.55 1.25" joint="wam/wrist_yaw_joint" kp="100"/>-->
<!-- <position ctrlrange="-1.5707 1.5707" joint="wam/wrist_pitch_joint" kp="2000"/>-->
<!-- <position ctrlrange="-2.7 2.7" joint="wam/palm_yaw_joint" kp="100"/>-->
<!-- </actuator>-->
<!-- <actuator>-->
<!-- <motor ctrlrange="-150 150" joint="wam/base_yaw_joint"/>-->
<!-- <motor ctrlrange="-125 125" joint="wam/shoulder_pitch_joint"/>-->
<!-- <motor ctrlrange="-40 40" joint="wam/shoulder_yaw_joint"/>-->
<!-- <motor ctrlrange="-60 60" joint="wam/elbow_pitch_joint"/>-->
<!-- <motor ctrlrange="-5 5" joint="wam/wrist_yaw_joint"/>-->
<!-- <motor ctrlrange="-5 5" joint="wam/wrist_pitch_joint"/>-->
<!-- <motor ctrlrange="-2 2" joint="wam/palm_yaw_joint"/>-->
<!-- </actuator>-->
<actuator>
<motor ctrlrange="-150 150" joint="wam/base_yaw_joint"/>
<motor ctrlrange="-125 125" joint="wam/shoulder_pitch_joint"/>
<motor ctrlrange="-40 40" joint="wam/shoulder_yaw_joint"/>
<motor ctrlrange="-60 60" joint="wam/elbow_pitch_joint"/>
<motor ctrlrange="-5 5" joint="wam/wrist_yaw_joint"/>
<motor ctrlrange="-5 5" joint="wam/wrist_pitch_joint"/>
<motor ctrlrange="-2 2" joint="wam/palm_yaw_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="150.0" joint="wam/base_yaw_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="125.0" joint="wam/shoulder_pitch_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="40.0" joint="wam/shoulder_yaw_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="60.0" joint="wam/elbow_pitch_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="5.0" joint="wam/wrist_yaw_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="5.0" joint="wam/wrist_pitch_joint"/>
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="2.0" joint="wam/palm_yaw_joint"/>
</actuator>
</mujoco>