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fetch_maneuver.xml
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<mujoco model="fetch_maneuver(v2.0)">
<!-- =================================================
Copyright 2016 Vikash Kumar
Model :: Fetch (MuJoCoV2.0)
Author :: Vikash Kumar ([email protected])
Details :: https://github.com/vikashplus/fetch_sim
License :: Under Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
====================================================== -©vk©-->
<include file="../fetch_sim/assets/asset.xml"/>
<asset>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="100" height="100"/>
<material name='MatPlane' reflectance='0.5' texture="texplane" texrepeat="1 1" texuniform="true"/>
<texture name="texobj" type="cube" file="texture/marble.png"/>
<material name="geomObj" texture="texobj" specular="0.95" shininess=".03" rgba=".8 .8 .8 1"/>
</asset>
<default>
<default class='obstacle'>
<geom type='capsule' rgba='1 .1 .1 1' size='0.025' contype="1" conaffinity="1"/>
</default>
</default>
<worldbody>
<geom name='floor' pos='0 0 0' size='10 10 0.125' type='plane' material="MatPlane" condim='3'/>
<light directional="false" cutoff="35" exponent="10" diffuse=".7 .7 .7" pos="1 -0.2 2.5" dir="-0.4 1 -1.5" specular=".3 .3 .3"/>
<body name='obs' pos='1 -.3 .7'>
<geom class='obstacle' name="obstacle1" fromto="0.1 0.15 -.09 0.1 0.15 .09"/>
<geom class='obstacle' name="obstacle2" fromto="0.1 -0.15 -.09 0.1 -0.15 .09"/>
<geom class='obstacle' name="obstacle3" fromto="0.1 -0.3 0.25 0.1 0.05 .25"/>
<geom class='obstacle' name="obstacle3a" fromto="0.1 -0.3 -.25 0.1 0.05 -.25"/>
<geom class='obstacle' name="obstacle4" fromto="-0.12 0.3 -.5 -0.12 0.3 .5"/>
<geom class='obstacle' name="obstacle5" fromto="-0.12 -0.2 -.5 -0.12 -0.2 .5"/>
<geom class='obstacle' name="obstacle6" fromto="-0.35 -0.3 0.2 -0.3 0.3 .2"/>
<geom class='obstacle' name="obstacle6a" fromto="-0.35 -0.3 -.2 -0.3 0.3 -.2"/>
</body>
<body name='fetchFrame' pos='0 0 0' euler='0 0 -1.57'>
<include file="../fetch_sim/assets/body.xml"/>
</body>
</worldbody>
</mujoco>