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Larger contact parameter

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This commit is contained in:
kngwyu 2020-05-31 12:58:33 +09:00
parent 7431980838
commit bd7dd5bcfc
2 changed files with 4 additions and 5 deletions
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7
mujoco_maze/assets/point.xml
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@ -3,8 +3,7 @@
<option timestep="0.02" integrator="RK4" />
<default>
<joint limited="false" armature="0" damping="0" />
<geom condim="3" conaffinity="0" margin="0" friction="1.0 0.5 0.5"
solimp="0.99 0.999 0.001" rgba="0.8 0.6 0.4 1" density="100" />
<geom condim="3" conaffinity="0" margin="0" friction="1.0 0.5 0.5" rgba="0.8 0.6 0.4 1" density="100" />
</default>
<asset>
<texture type="skybox" builtin="gradient" width="100" height="100" rgb1="1 1 1" rgb2="0 0 0" />
@ -17,8 +16,8 @@
<light directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular=".1 .1 .1" pos="0 0 1.3" dir="-0 0 -1.3" />
<geom name="floor" material="MatPlane" pos="0 0 0" size="40 40 40" type="plane" conaffinity="1" rgba="0.8 0.9 0.8 1" condim="3" />
<body name="torso" pos="0 0 0">
<geom name="pointbody" type="sphere" size="0.5" pos="0 0 0.5" />
<geom name="pointarrow" type="box" size="0.5 0.1 0.1" pos="0.6 0 0.5" />
<geom name="pointbody" type="sphere" size="0.5" pos="0 0 0.5" solimp="0.9995 0.9999 0.001" />
<geom name="pointarrow" type="box" size="0.5 0.1 0.1" pos="0.6 0 0.5" solimp="0.9995 0.9999 0.001" />
<joint name="ballx" type="slide" axis="1 0 0" pos="0 0 0" />
<joint name="bally" type="slide" axis="0 1 0" pos="0 0 0" />
<joint name="rot" type="hinge" axis="0 0 1" pos="0 0 0" limited="false" />

2
mujoco_maze/maze_env_utils.py
View File

@ -104,7 +104,7 @@ class Collision:
"""
ARROUND = np.array([[-1, 0], [1, 0], [0, -1], [0, 1]])
OFFSET = {False: 0.499, True: 0.501}
OFFSET = {False: 0.5, True: 0.55}
def __init__(
self, structure: list, size_scaling: float, torso_x: float, torso_y: float,