43 lines
2.1 KiB
XML
43 lines
2.1 KiB
XML
<mujoco model="base_surrounding">
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<compiler angle="radian" discardvisual="false" />
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<option collision="all" cone="elliptic" gravity="0 0 -9.81" impratio="3" solver="Newton" timestep="0.002" tolerance="1e-10" />
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<size nconmax="2000" njmax="2000" />
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<asset>
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<texture builtin="gradient" height="32" rgb1="0.26 0.58 0.51" rgb2="0.26 0.58 0.51" type="skybox" width="32" />
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</asset>
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<visual>
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<map zfar="1000" znear="0.001" />
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</visual>
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<worldbody>
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<light castshadow="true" cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1" />
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<body name="ground" pos="0 0 -0.94">
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<geom name="ground:geom1" rgba="0.26 0.58 0.51 1" size="0 0 1" type="plane" />
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</body>
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<!-- <body name="goal" pos="0.5 0 0.2" quat="1 0 0 0">-->
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<!-- <geom type="sphere" mass="0.1" size="0.01" rgba="1 0 0 1" />-->
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<!-- </body>-->
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<!-- <body name="box" pos="0.5 0 0.1" quat="1 0 0 0">-->
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<!-- <geom type="box" mass="1" size="0.02 0.02 0.02" rgba="0.32 0.32 0.32 1" />-->
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<!-- </body>-->
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<body name="target_pos" pos="0.5 0.5 0.0">
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<site type="box" pos="0 0 0" rgba="0 1 0 0.3" size="0.05 0.05 0.01" />
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<site pos="0.05 0 0.0485" size="0.005 0.05 0.045" rgba="0 0 1 0.5" type="box"/>
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<site pos="0 0.05 0.0485" size="0.05 0.005 0.045" rgba="0 1 0 0.5" type="box"/>
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<site pos="-0.05 0 0.0485" size="0.005 0.05 0.045" rgba="0 1 0 0.5" type="box"/>
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<site pos="0 -0.05 0.0485" size="0.05 0.005 0.045" rgba="0 1 0 0.5" type="box"/>
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</body>
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<body name="replan_target_pos" pos="0.5 0.5 -0.01">
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<site type="box" pos="0 0 0" rgba="1 1 0 0.3" size="0.05 0.05 0.01" />
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<site pos="0.05 0 0.0485" size="0.005 0.05 0.045" rgba="0 0 1 0.5" type="box"/>
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<site pos="0 0.05 0.0485" size="0.05 0.005 0.045" rgba="1 1 0 0.5" type="box"/>
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<site pos="-0.05 0 0.0485" size="0.005 0.05 0.045" rgba="1 1 0 0.5" type="box"/>
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<site pos="0 -0.05 0.0485" size="0.05 0.005 0.045" rgba="1 1 0 0.5" type="box"/>
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</body>
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</worldbody>
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<include file="kit_lab_surrounding.xml" />
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<include file="panda_rod.xml" />
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<include file="push_box.xml" />
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</mujoco>
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