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mjx_scene.patch
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mjx_scene.patch
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diff --git a/mjx_scene.xml b/mjx_scene.xml
--- a/mjx_scene.xml
+++ b/mjx_scene.xml
@@ -1,7 +1,13 @@
<mujoco model="aloha scene">
<compiler meshdir="assets" texturedir="assets"/>
- <include file="aloha.xml"/>
+ <include file="mjx_aloha.xml"/>
+
+ <custom>
+ <numeric data="8" name="max_contact_points"/>
+ </custom>
+
+ <option iterations="6" ls_iterations="6" timestep="0.01"/>
<statistic center="0 -0.1 0.2" extent="0.6" meansize="0.05"/>
@@ -40,18 +46,23 @@
<default>
<default class="frame">
- <geom group="1" type="mesh" material="black"/>
+ <geom group="1" type="mesh" material="black" contype="0" conaffinity="0"/>
</default>
</default>
<worldbody>
<light pos="0 0.1 2.5"/>
- <geom name="floor" size="2 2 0.05" type="plane" material="groundplane" pos="0 0 -.75"/>
- <body name="table" pos="0 0 -0.75">
+ <geom name="floor" size="2 2 0.05" type="plane" material="groundplane" pos="0 0 -.75" contype="0" conaffinity="0"/>
+ <frame name="table" pos="0 0 -0.75">
<site name="worldref"/>
<geom mesh="tabletop" material="table" class="visual" quat="1 0 0 1"/>
<geom mesh="tablelegs" material="table" class="visual" quat="1 0 0 1"/>
- <geom name="table" pos="0 0 0.6509" size="0.61 0.37 0.1" type="box" class="collision"/>
+ <geom name="table" pos="0 0 0.7509" size="0.61 0.37 0.1" type="plane" class="collision" contype="0" conaffinity="1"/>
+ </frame>
+ <body name="box">
+ <freejoint/>
+ <geom name="box" type="box" size="0.02 0.02 0.02" condim="3"
+ friction="2.5 .03 .003" rgba="0 1 0 1" contype="1" conaffinity="1"/>
</body>
<camera name="overhead_cam" pos="0 -0.303794 1.02524" fovy="58" mode="fixed" quat="0.976332 0.216277 0 0"/>
<camera name="worms_eye_cam" pos="0 -0.377167 0.0316055" fovy="58" mode="fixed" quat="0.672659 0.739953 0 0"/>
@@ -87,4 +98,14 @@
<geom class="frame" pos="0.43 -0.361 1.02" quat="0 0 0 1" mesh="extrusion_2040_1000"/>
<geom class="frame" pos="0 -0.391 -0.01" quat="0 0 0 1" mesh="wormseye_mount"/>
</worldbody>
+
+ <keyframe>
+ <key name="home" qpos="
+ 0 -0.96 1.16 0 -0.3 0 0.0084 0.0084
+ 0 -0.96 1.16 0 -0.3 0 0.0084 0.0084
+ 0.35 0.2 0.025 1 0 0 0"
+ act= "-0.1 0 0 0 0 0 0.03 0.1 0 0 0 0 0 0.03"
+ ctrl="-0.1 0 0 0 0 0 0.03 0.1 0 0 0 0 0 0.03"
+ />
+ </keyframe>
</mujoco>