90 lines
5.1 KiB
XML
90 lines
5.1 KiB
XML
<mujoco model="table">
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<option timestep="0.001" cone="elliptic" impratio="1"/>
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<asset>
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<material name="grey" specular="0.5" shininess="0.25" rgba="0.8 0.8 0.8 1"/>
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<material name="white" specular="0.5" shininess="0.25" rgba="1.0 1.0 1.0 1"/>
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<material name="red" specular="0.5" shininess="0.25" rgba="1.0 0.0 0.0 1"/>
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<material name="blue" specular="0.5" shininess="0.25" rgba="0.0 0.0 1.0 1"/>
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<material name="transparent" specular="0.5" shininess="0.25" rgba="0.0 0.0 1.0 0"/>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512"
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height="3072"/>
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<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4"
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rgb2="0.1 0.2 0.3" markrgb="0.8 0.8 0.8" width="300" height="300"/>
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<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5"
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reflectance="0.2"/>
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</asset>
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<default>
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<geom condim="4" solref="0.02 0.3"/>
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<default class="rim">
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<geom type="box" material="grey" condim="6" friction="10000 0.0 0.0" priority="1"
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solref="-2000000 -250" solimp="0.99 0.999 0.001 0.5 2"/>
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</default>
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</default>
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<worldbody>
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<body name="table">
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<body name="table_surface">
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<geom name="surface" type="box" material="white" size="1.064 0.609 0.0505" pos="0 0 -0.0505"
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condim="4" friction="0.08 0.08 0.0" priority="1"
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solref="0.0125 0.5" solimp="0.9 0.999 0.001 0.5 2"/>
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</body>
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<body name="rim">
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<!-- <geom name="rim_home_l" class="rim" size="0.045 0.197 0.005" pos="-1.019 0.322 0.005"/>-->
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<!-- <geom name="rim_home_r" class="rim" size="0.045 0.197 0.005" pos="-1.019 -0.322 0.005"/>-->
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<geom name="rim_home_l" class="rim" size="0.045 0.1945 0.005" pos="-1.019 0.3245 0.005"/>
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<geom name="rim_home_r" class="rim" size="0.045 0.1945 0.005" pos="-1.019 -0.3245 0.005"/>
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<geom name="rim_home_bound_l" class="rim" type="cylinder" size="0.005 0.005" pos="-0.979 0.13 0.005"/>
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<geom name="rim_home_bound_l_tail" class="rim" size="0.0425 0.005 0.005" pos="-1.0215 0.13 0.005"/>
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<geom name="rim_home_bound_r" class="rim" type="cylinder" size="0.005 0.005" pos="-0.979 -0.13 0.005"/>
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<geom name="rim_home_bound_r_tail" class="rim" size="0.0425 0.005 0.005" pos="-1.0215 -0.13 0.005"/>
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<geom name="rim_home_top" class="rim" size="0.045 0.519 0.01" pos="-1.019 0 0.02"/>
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<geom name="rim_left" class="rim" size="1.064 0.045 0.015" pos="0 0.564 0.015"/>
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<geom name="rim_right" class="rim" size="1.064 0.045 0.015" pos="0 -0.564 0.015"/>
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<!-- <geom name="rim_away_l" class="rim" size="0.045 0.197 0.005" pos="1.019 0.322 0.005"/>-->
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<!-- <geom name="rim_away_r" class="rim" size="0.045 0.197 0.005" pos="1.019 -0.322 0.005"/>-->
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<geom name="rim_away_l" class="rim" size="0.045 0.1945 0.005" pos="1.019 0.3245 0.005"/>
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<geom name="rim_away_r" class="rim" size="0.045 0.1945 0.005" pos="1.019 -0.3245 0.005"/>
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<geom name="rim_away_bound_l" class="rim" type="cylinder" size="0.005 0.005" pos="0.979 0.13 0.005"/>
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<geom name="rim_away_bound_l_tail" class="rim" size="0.0425 0.005 0.005" pos="1.0215 0.13 0.005"/>
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<geom name="rim_away_bound_r" class="rim" type="cylinder" size="0.005 0.005" pos="0.979 -0.13 0.005"/>
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<geom name="rim_away_bound_r_tail" class="rim" size="0.0425 0.005 0.005" pos="1.0215 -0.13 0.005"/>
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<geom name="rim_away_top" class="rim" size="0.045 0.519 0.01" pos="1.019 0 0.02"/>
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</body>
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</body>
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<body name="base" pos="0 0 0">
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<joint name="puck_x" type="slide" axis="1 0 0" damping="0.005" limited="false"/>
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<joint name="puck_y" type="slide" axis="0 1 0" damping="0.005" limited="false"/>
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<joint name="puck_yaw" type="hinge" axis="0 0 1" damping="2e-6" limited="false"/>
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<body name="puck">
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<geom pos="0 0 0" name="puck" type="cylinder" material="red" size="0.03165 0.003"
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condim="4" priority="0"/>
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<geom pos="0.02 0 0" type="cylinder" material="blue" size="0.01 0.0031"
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condim="4" contype="0" conaffinity="0"/>
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<inertial pos="0 0 0" mass="0.01" diaginertia="2.5e-6 2.5e-6 5e-6"/>
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</body>
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</body>
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<site name="puck_vis" type="ellipsoid" size="0.03165 0.03165 0.004" pos="0 0 -0.05"/>
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<site name="puck_vis_rot" type="cylinder" size="0.0045 0.006" rgba="1 0 0 1" pos="0 0 -0.05"/>
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</worldbody>
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<contact>
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<exclude body1="puck" body2="table_surface"/>
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</contact>
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<worldbody>
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<light pos="0 0 3" dir="0 0 -1" directional="true"/>
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<geom pos="0 0 -0.1" name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
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</worldbody>
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</mujoco>
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