39 lines
1.7 KiB
Diff
39 lines
1.7 KiB
Diff
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--- scene.xml 2024-07-24 11:38:17.000000000 -0700
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+++ mjx_scene.xml 2024-09-25 10:13:59.000000000 -0700
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@@ -1,7 +1,13 @@
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<mujoco model="aloha_scene">
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<compiler meshdir="assets" texturedir="assets"/>
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- <include file="aloha.xml"/>
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+ <include file="mjx_aloha.xml"/>
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+
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+ <custom>
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+ <numeric data="12" name="max_contact_points"/>
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+ </custom>
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+
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+ <option iterations="8" ls_iterations="8" timestep="0.005"/>
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<statistic center="0 -0.1 0.2" extent="0.6" meansize="0.05"/>
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@@ -40,17 +46,17 @@
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<default>
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<default class="frame">
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- <geom group="1" type="mesh" material="black"/>
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+ <geom group="1" type="mesh" material="black" contype="0" conaffinity="0"/>
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</default>
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</default>
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<worldbody>
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<light pos="0 0.1 2.5"/>
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- <geom name="floor" size="2 2 0.05" type="plane" material="groundplane" pos="0 0 -.75"/>
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+ <geom name="floor" size="2 2 0.05" type="plane" material="groundplane" pos="0 0 -.75" contype="0" conaffinity="0"/>
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<site name="worldref" pos="0 0 -0.75"/>
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<geom mesh="tabletop" material="table" class="visual" pos="0 0 -0.75" quat="1 0 0 1"/>
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<geom mesh="tablelegs" material="table" class="visual" pos="0 0 -0.75" quat="1 0 0 1"/>
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- <geom name="table" pos="0 0 -0.1009" size="0.61 0.37 0.1" type="box" class="collision"/>
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+ <geom name="table" pos="0 0 0.0008" size="0.61 0.37 0.1" type="plane" class="collision" contype="1" conaffinity="1"/>
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<camera name="overhead_cam" focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"
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pos="0 -0.303794 1.02524" mode="fixed" quat="0.976332 0.216277 0 0"/>
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<camera name="worms_eye_cam" focal="1.93e-3 1.93e-3" resolution="1280 720" sensorsize="3896e-6 2140e-6"
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